Collaboration diagram for FrameTransform: possibile server-client configurations:

Description

FrameTransformServer and FrameTransformClient configurations can be coupled in different ways. In order to facilitate the use of these new devices, here is a complete list of the allowed combinations.

fts_full_ros compatible configurations

In the following configurations the communication with ROS is managed by the server. These configurations are particularly useful when all the clients that are going to connect to the server need to have access to the transform published on ROS topics

ftc_yarp_only In this configurations, the client can set and get frame transforms stored in the server
ftc_pub_yarp_only In this configurations, the client can only set frame transforms stored in the server
ftc_sub_yarp_only In this configurations, the client can only get frame transforms stored in the server

fts_yarp_only compatible configurations

In the following configurations the the server will only manage YARP communications. These configurations are to be used if you don't need transforms coming from ROS or when the ROS communication is available only on through a client machine

ftc_yarp_only In this configurations, the client can set and get frame transforms stored in the server
ftc_pub_yarp_only In this configurations, the client can only set frame transforms stored in the server
ftc_sub_yarp_only In this configurations, the client can only get frame transforms stored in the server
ftc_full_ros In this configurations, the client can set and get frame transforms stored in the server and also the ones published on ROS topics

Peculiar client to client configuration

ftc_pub_yarp_only + ftc_yarp_only_single_client In this configuration there is no server, but only a client publishing transforms on YARP and one or more clients connected to it.

The ftc_yarp_only_single_client can be attached to every client that in its structure instantiates a frameTransformSet_nwc_yarp object