frameTransformStorage
: A class that keeps a FrameTransformContainer updated by receiving transformations through the yarp::dev::IFrameTransformStorageSet interface and periodically querying a set of attached devices that expose the yarp::dev::IFrameTransformStorageGet interface.
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#include <frameTransformStorage/FrameTransformStorage.h>
Public Member Functions | |
FrameTransformStorage (double tperiod=0.010) | |
~FrameTransformStorage () | |
bool | open (yarp::os::Searchable &config) override |
Open the DeviceDriver. | |
bool | close () override |
Close the DeviceDriver. | |
bool | setTransforms (const std::vector< yarp::math::FrameTransform > &transforms) override |
Save some frame transforms in a storage. | |
bool | setTransform (const yarp::math::FrameTransform &transform) override |
Save a frame transform in a storage. | |
bool | getTransforms (std::vector< yarp::math::FrameTransform > &transforms) const override |
Obtains all frame transforms saved in a storage. | |
bool | deleteTransform (std::string t1, std::string t2) override |
Delete a single transform in the storage. | |
bool | size (size_t &size) const override |
bool | clearAll () override |
Delete all transforms in a storage. | |
bool | getInternalContainer (yarp::dev::FrameTransformContainer *&container) override |
bool | startStorageThread () override |
bool | stopStorageThread () override |
bool | attach (yarp::dev::PolyDriver *driver) override |
Attach to another object. | |
bool | detach () override |
Detach the object (you must have first called attach). | |
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 yarp::dev::IFrameTransformStorageSet | |
virtual | ~IFrameTransformStorageSet () |
Public Member Functions inherited from yarp::dev::IFrameTransformStorageGet | |
virtual | ~IFrameTransformStorageGet () |
Public Member Functions inherited from yarp::dev::IFrameTransformStorageUtils | |
virtual | ~IFrameTransformStorageUtils () |
Public Member Functions inherited from yarp::os::PeriodicThread | |
PeriodicThread (double period, ShouldUseSystemClock useSystemClock=ShouldUseSystemClock::No, PeriodicThreadClock clockAccuracy=PeriodicThreadClock::Relative) | |
Constructor. | |
PeriodicThread (double period, PeriodicThreadClock clockAccuracy) | |
Constructor. | |
virtual | ~PeriodicThread () |
bool | start () |
Call this to start the thread. | |
void | step () |
Call this to "step" the thread rather than starting it. | |
void | stop () |
Call this to stop the thread, this call blocks until the thread is terminated (and releaseThread() called). | |
void | askToStop () |
Stop the thread. | |
bool | isRunning () const |
Returns true when the thread is started, false otherwise. | |
bool | isSuspended () const |
Returns true when the thread is suspended, false otherwise. | |
bool | setPeriod (double period) |
Set the (new) period of the thread. | |
double | getPeriod () const |
Return the current period of the thread. | |
void | suspend () |
Suspend the thread, the thread keeps running by doLoop is never executed. | |
void | resume () |
Resume the thread if previously suspended. | |
void | resetStat () |
Reset thread statistics. | |
double | getEstimatedPeriod () const |
Return estimated period since last reset. | |
void | getEstimatedPeriod (double &av, double &std) const |
Return estimated period since last reset. | |
unsigned int | getIterations () const |
Return the number of iterations performed since last reset. | |
double | getEstimatedUsed () const |
Return the estimated duration of the run() function since last reset. | |
void | getEstimatedUsed (double &av, double &std) const |
Return estimated duration of the run() function since last reset. | |
int | setPriority (int priority, int policy=-1) |
Set the priority and scheduling policy of the thread, if the OS supports that. | |
int | getPriority () const |
Query the current priority of the thread, if the OS supports that. | |
int | getPolicy () const |
Query the current scheduling policy of the thread, if the OS supports that. | |
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. | |
Public Member Functions inherited from FrameTransformStorage_ParamsParser | |
FrameTransformStorage_ParamsParser () | |
~FrameTransformStorage_ParamsParser () override=default | |
bool | parseParams (const yarp::os::Searchable &config) override |
Parse the DeviceDriver parameters. | |
std::string | getDeviceClassName () const override |
Get the name of the DeviceDriver class. | |
std::string | getDeviceName () const override |
Get the name of the device (i.e. | |
std::string | getDocumentationOfDeviceParams () const override |
Get the documentation of the DeviceDriver's parameters. | |
std::vector< std::string > | getListOfParams () const override |
Return a list of all params used by the device. | |
Public Member Functions inherited from yarp::dev::IDeviceDriverParams | |
virtual | ~IDeviceDriverParams () |
Protected Attributes | |
yarp::dev::FrameTransformContainer | m_tf_container |
Additional Inherited Members | |
Public Attributes inherited from FrameTransformStorage_ParamsParser | |
const std::string | m_device_classname = {"FrameTransformStorage"} |
const std::string | m_device_name = {"frameTransformStorage"} |
bool | m_parser_is_strict = false |
const parser_version_type | m_parser_version = {} |
const std::string | m_FrameTransform_verbose_debug_defaultValue = {"false"} |
const std::string | m_FrameTransform_container_timeout_defaultValue = {"0.2"} |
bool | m_FrameTransform_verbose_debug = {false} |
double | m_FrameTransform_container_timeout = {0.2} |
Protected Member Functions inherited from yarp::os::PeriodicThread | |
virtual bool | threadInit () |
Initialization method. | |
virtual void | threadRelease () |
Release method. | |
virtual void | beforeStart () |
Called just before a new thread starts. | |
virtual void | afterStart (bool success) |
Called just after a new thread starts (or fails to start), this is executed by the same thread that calls start(). | |
frameTransformStorage
: A class that keeps a FrameTransformContainer updated by receiving transformations through the yarp::dev::IFrameTransformStorageSet interface and periodically querying a set of attached devices that expose the yarp::dev::IFrameTransformStorageGet interface.
It also exposes the yarp::dev::IFrameTransformStorageGet interface to allow stored transformations retrieval
Parameters required by this device are shown in class: FrameTransformStorage_ParamsParser
Definition at line 37 of file FrameTransformStorage.h.
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inline |
Definition at line 50 of file FrameTransformStorage.h.
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inline |
Definition at line 51 of file FrameTransformStorage.h.
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overridevirtual |
Attach to another object.
driver | the polydriver that you want to attach to. |
Implements yarp::dev::IWrapper.
Definition at line 110 of file FrameTransformStorage.cpp.
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overridevirtual |
Delete all transforms in a storage.
Implements yarp::dev::IFrameTransformStorageSet.
Definition at line 126 of file FrameTransformStorage.cpp.
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overridevirtual |
Close the DeviceDriver.
Reimplemented from yarp::dev::DeviceDriver.
Definition at line 49 of file FrameTransformStorage.cpp.
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overridevirtual |
Delete a single transform in the storage.
src | the source of frame transform to delete |
dst | the destination of frame transform to delete |
Implements yarp::dev::IFrameTransformStorageSet.
Definition at line 73 of file FrameTransformStorage.cpp.
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overridevirtual |
Detach the object (you must have first called attach).
Implements yarp::dev::IWrapper.
Definition at line 98 of file FrameTransformStorage.cpp.
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overridevirtual |
Implements yarp::dev::IFrameTransformStorageUtils.
Definition at line 21 of file FrameTransformStorage.cpp.
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overridevirtual |
Obtains all frame transforms saved in a storage.
transforms | the returned list of frame transforms |
Implements yarp::dev::IFrameTransformStorageGet.
Definition at line 55 of file FrameTransformStorage.cpp.
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overridevirtual |
Open the DeviceDriver.
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). |
Reimplemented from yarp::dev::DeviceDriver.
Definition at line 27 of file FrameTransformStorage.cpp.
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overridevirtual |
Save a frame transform in a storage.
transforms | the transform to be stored |
Implements yarp::dev::IFrameTransformStorageSet.
Definition at line 67 of file FrameTransformStorage.cpp.
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overridevirtual |
Save some frame transforms in a storage.
transforms | the list of transforms to be stored |
Implements yarp::dev::IFrameTransformStorageSet.
Definition at line 61 of file FrameTransformStorage.cpp.
Implements yarp::dev::IFrameTransformStorageUtils.
Definition at line 131 of file FrameTransformStorage.cpp.
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overridevirtual |
Implements yarp::dev::IFrameTransformStorageUtils.
Definition at line 136 of file FrameTransformStorage.cpp.
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overridevirtual |
Implements yarp::dev::IFrameTransformStorageUtils.
Definition at line 141 of file FrameTransformStorage.cpp.
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protected |
Definition at line 47 of file FrameTransformStorage.h.