frameTransformSet_nws_yarp: A network wrapper client which publishes the transforms received on the yarp::dev::IFrameTransformStorageSet interface to thrift interface FrameTransformStorageSetRPC interface. More...

#include <frameTransformSet/FrameTransformSet_nws_yarp.h>

Inheritance diagram for FrameTransformSet_nws_yarp:

Public Member Functions
	FrameTransformSet_nws_yarp ()=default

	~FrameTransformSet_nws_yarp ()

bool	open (yarp::os::Searchable &config) override
	Open the DeviceDriver.

bool	close () override
	Close the DeviceDriver.

bool	attach (yarp::dev::PolyDriver *device2attach) override
	Attach to another object.

bool	detach () override
	Detach the object (you must have first called attach).

bool	setTransformsRPC (const std::vector< yarp::math::FrameTransform > &transforms) override

bool	setTransformRPC (const yarp::math::FrameTransform &transform) override

bool	deleteTransformRPC (const std::string &src, const std::string &dst) override

bool	clearAllRPC () override

Public Member Functions inherited from yarp::dev::DeviceDriver
	DeviceDriver ()

	DeviceDriver (const DeviceDriver &other)=delete

	DeviceDriver (DeviceDriver &&other) noexcept=delete

DeviceDriver &	operator= (const DeviceDriver &other)=delete

DeviceDriver &	operator= (DeviceDriver &&other) noexcept=delete

virtual	~DeviceDriver ()

virtual std::string	id () const
	Return the id assigned to the PolyDriver.

virtual void	setId (const std::string &id)
	Set the id for this device.

template<class T >
bool	view (T *&x)
	Get an interface to the device driver.

virtual DeviceDriver *	getImplementation ()
	Some drivers are bureaucrats, pointing at others.

Public Member Functions inherited from FrameTransformStorageSetRPC
	FrameTransformStorageSetRPC ()

virtual std::vector< std::string >	help (const std::string &functionName="--all")

bool	read (yarp::os::ConnectionReader &connection) override
	Read this object from a network connection.

Public Member Functions inherited from yarp::os::Wire
yarp::os::WireLink &	yarp ()
	Get YARP state associated with this object.

const yarp::os::WireLink &	yarp () const
	Get YARP state associated with this object (const version).

Public Member Functions inherited from yarp::os::PortReader
virtual	~PortReader ()
	Destructor.

virtual Type	getReadType () const

Public Member Functions inherited from yarp::dev::WrapperSingle
	~WrapperSingle () override
	Destructor.

bool	attachAll (const yarp::dev::PolyDriverList &drivers) final
	Attach to a list of objects.

bool	detachAll () final
	Detach the object (you must have first called attach).

Public Member Functions inherited from yarp::dev::IWrapper
virtual	~IWrapper ()
	Destructor.

Public Member Functions inherited from yarp::dev::IMultipleWrapper
virtual	~IMultipleWrapper ()
	Destructor.

Detailed Description

frameTransformSet_nws_yarp: A network wrapper client which publishes the transforms received on the yarp::dev::IFrameTransformStorageSet interface to thrift interface FrameTransformStorageSetRPC interface.

Parameters

This device is paired with its server called FrameTransformSet_nwc_yarp.

Parameters required by this device are:

Parameter name	SubParameter	Type	Units	Default Value	Required	Description
default-config	-	bool	-	true	No	tells whether or not the nws is instanciated by the frameTransformServer device. If true, "/frameTransformServer" will appended to the port name prefix
nws_thrift_port_prefix	-	string	-	""	No	a prefix for the nws thrift rpc port name

Port names examples

Here follow some examples of port names obtained with different parameters configurations

With
- default-config = true
- nws_thrift_port_prefix = ""
  The frameTransformSet_nws_yarp thrift port name will be: /frameTransformServer/frameTransformSet_nws_yarp/thrift
With
- default-config = true
- nws_thrift_port_prefix = "/cer"
  The frameTransformSet_nws_yarp thrift port name will be: /cer/frameTransformServer/frameTransformSet_nws_yarp/thrift
With
- default-config = false
- nws_thrift_port_prefix = "/cer"
  The frameTransformSet_nws_yarp thrift port name will be: /cer/frameTransformSet_nws_yarp/thrift

Example of configuration file using .ini format.

device frameTransformSet_nws_yarp
default-config true
nws_thrift_port_prefix /cer

Definition at line 57 of file FrameTransformSet_nws_yarp.h.

Constructor & Destructor Documentation

◆ FrameTransformSet_nws_yarp()

FrameTransformSet_nws_yarp::FrameTransformSet_nws_yarp ( )

default

◆ ~FrameTransformSet_nws_yarp()

FrameTransformSet_nws_yarp::~FrameTransformSet_nws_yarp ( )

Definition at line 62 of file FrameTransformSet_nws_yarp.cpp.

Member Function Documentation

◆ attach()

bool FrameTransformSet_nws_yarp::attach ( yarp::dev::PolyDriver * driver )

overridevirtual

Attach to another object.

Parameters

driver the polydriver that you want to attach to.

Returns: true/false on success failure.

Implements yarp::dev::IWrapper.

Definition at line 133 of file FrameTransformSet_nws_yarp.cpp.

◆ clearAllRPC()

bool FrameTransformSet_nws_yarp::clearAllRPC ( )

overridevirtual

Reimplemented from FrameTransformStorageSetRPC.

Definition at line 120 of file FrameTransformSet_nws_yarp.cpp.

◆ close()

bool FrameTransformSet_nws_yarp::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 67 of file FrameTransformSet_nws_yarp.cpp.

◆ deleteTransformRPC()

bool FrameTransformSet_nws_yarp::deleteTransformRPC	(	const std::string &	src,
		const std::string &	dst
	)

overridevirtual

Reimplemented from FrameTransformStorageSetRPC.

Definition at line 108 of file FrameTransformSet_nws_yarp.cpp.

◆ detach()

bool FrameTransformSet_nws_yarp::detach ( )

overridevirtual

Detach the object (you must have first called attach).

Returns: true/false on success failure.

Implements yarp::dev::IWrapper.

Definition at line 76 of file FrameTransformSet_nws_yarp.cpp.

◆ open()

bool FrameTransformSet_nws_yarp::open ( yarp::os::Searchable & config )

overridevirtual

Open the DeviceDriver.

Parameters

config is a list of parameters for the device. Which parameters are effective for your device can vary. See device invocation examples. If there is no example for your device, you can run the "yarpdev" program with the verbose flag set to probe what parameters the device is checking. If that fails too, you'll need to read the source code (please nag one of the yarp developers to add documentation for your device).