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. More...

#include <frameTransformStorage/FrameTransformStorage.h>

Inheritance diagram for FrameTransformStorage:

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

	~DeviceDriver () override

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::os::IConfig
virtual	~IConfig ()
	Destructor.

virtual bool	configure (Searchable &config)
	Change online parameters.

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.

Protected Attributes
yarp::dev::FrameTransformContainer	m_tf_container

Additional Inherited Members
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().

Detailed Description

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

Definition at line 33 of file FrameTransformStorage.h.

Constructor & Destructor Documentation

◆ FrameTransformStorage()

FrameTransformStorage::FrameTransformStorage ( double tperiod = 0.010 )

inline

Definition at line 45 of file FrameTransformStorage.h.

◆ ~FrameTransformStorage()

FrameTransformStorage::~FrameTransformStorage ( )

inline

Definition at line 46 of file FrameTransformStorage.h.

Member Function Documentation

◆ attach()

bool FrameTransformStorage::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 109 of file FrameTransformStorage.cpp.

◆ clearAll()

bool FrameTransformStorage::clearAll ( )

overridevirtual

Delete all transforms in a storage.

Returns: true/false

Implements yarp::dev::IFrameTransformStorageSet.

Definition at line 125 of file FrameTransformStorage.cpp.

◆ close()

bool FrameTransformStorage::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 48 of file FrameTransformStorage.cpp.

◆ deleteTransform()

bool FrameTransformStorage::deleteTransform	(	std::string	src,
		std::string	dst
	)

overridevirtual

Delete a single transform in the storage.

Parameters

src	the source of frame transform to delete
dst	the destination of frame transform to delete

Returns: true/false

Implements yarp::dev::IFrameTransformStorageSet.

Definition at line 72 of file FrameTransformStorage.cpp.

◆ detach()

bool FrameTransformStorage::detach ( )

overridevirtual

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

Returns: true/false on success failure.

Implements yarp::dev::IWrapper.

Definition at line 97 of file FrameTransformStorage.cpp.

◆ getInternalContainer()

bool FrameTransformStorage::getInternalContainer ( yarp::dev::FrameTransformContainer *& container )

overridevirtual

Implements yarp::dev::IFrameTransformStorageUtils.

Definition at line 21 of file FrameTransformStorage.cpp.

◆ getTransforms()

bool FrameTransformStorage::getTransforms ( std::vector< yarp::math::FrameTransform > & transforms ) const

overridevirtual

Obtains all frame transforms saved in a storage.

Parameters

transforms the returned list of frame transforms

Returns: true/false

Implements yarp::dev::IFrameTransformStorageGet.

Definition at line 54 of file FrameTransformStorage.cpp.

◆ open()

bool FrameTransformStorage::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).

Returns: true/false upon success/failure

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 27 of file FrameTransformStorage.cpp.

◆ setTransform()

bool FrameTransformStorage::setTransform ( const yarp::math::FrameTransform & transform )

overridevirtual

Save a frame transform in a storage.

Parameters

transforms the transform to be stored

Returns: true/false

Implements yarp::dev::IFrameTransformStorageSet.

Definition at line 66 of file FrameTransformStorage.cpp.

◆ setTransforms()

bool FrameTransformStorage::setTransforms ( const std::vector< yarp::math::FrameTransform > & transforms )

overridevirtual

Save some frame transforms in a storage.

Parameters

transforms the list of transforms to be stored

Returns: true/false

Implements yarp::dev::IFrameTransformStorageSet.

Definition at line 60 of file FrameTransformStorage.cpp.

◆ size()

bool FrameTransformStorage::size ( size_t & size ) const

overridevirtual

Implements yarp::dev::IFrameTransformStorageUtils.

Definition at line 130 of file FrameTransformStorage.cpp.

◆ startStorageThread()

bool FrameTransformStorage::startStorageThread ( )

overridevirtual

Implements yarp::dev::IFrameTransformStorageUtils.

Definition at line 135 of file FrameTransformStorage.cpp.

◆ stopStorageThread()

bool FrameTransformStorage::stopStorageThread ( )

overridevirtual

Implements yarp::dev::IFrameTransformStorageUtils.

Definition at line 140 of file FrameTransformStorage.cpp.

Member Data Documentation

◆ m_tf_container

yarp::dev::FrameTransformContainer FrameTransformStorage::m_tf_container

protected

Definition at line 42 of file FrameTransformStorage.h.

The documentation for this class was generated from the following files:

src/devices/frameTransformStorage/FrameTransformStorage.h
src/devices/frameTransformStorage/FrameTransformStorage.cpp

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ FrameTransformStorage()

◆ ~FrameTransformStorage()

Member Function Documentation

◆ attach()

◆ clearAll()

◆ close()

◆ deleteTransform()

◆ detach()

◆ getInternalContainer()

◆ getTransforms()

◆ open()

◆ setTransform()

◆ setTransforms()

◆ size()

◆ startStorageThread()

◆ stopStorageThread()

Member Data Documentation

◆ m_tf_container