Receive transforms and answer queries. More...

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Inheritance diagram for fawkes::tf::TransformListener:

Public Member Functions
	TransformListener (BlackBoard *bb)
	Constructor.
virtual	~TransformListener ()
	Destructor.
std::string	resolve (const std::string &frame_name)
	Resolve transform name.
virtual void	bb_interface_created (const char type, const char id) throw ()
	BlackBoard interface created notification.
virtual void	bb_interface_data_changed (Interface *interface) throw ()
	BlackBoard data changed notification.
virtual void	bb_interface_writer_removed (Interface *interface, unsigned int instance_serial) throw ()
	A writing instance has been closed for a watched interface.
virtual void	bb_interface_reader_removed (Interface *interface, unsigned int instance_serial) throw ()
	A reading instance has been closed for a watched interface.
Public Member Functions inherited from fawkes::tf::Transformer
	Transformer (float cache_time_sec=10.0)
	Constructor.
virtual	~Transformer (void)
	Destructor.
void	clear ()
	Clear cached transforms.
bool	set_transform (const StampedTransform &transform, const std::string &authority="default_authority")
	Set a transform.
bool	frame_exists (const std::string &frame_id_str) const
	Check if frame exists.
void	lookup_transform (const std::string &target_frame, const std::string &source_frame, const fawkes::Time &time, StampedTransform &transform) const
	Lookup transform.
void	lookup_transform (const std::string &target_frame, const std::string &source_frame, StampedTransform &transform) const
	Lookup transform at latest common time.
void	lookup_transform (const std::string &target_frame, const fawkes::Time &target_time, const std::string &source_frame, const fawkes::Time &source_time, const std::string &fixed_frame, StampedTransform &transform) const
	Lookup transform assuming a fixed frame.
bool	can_transform (const std::string &target_frame, const std::string &source_frame, const fawkes::Time &time) const
	Test if a transform is possible.
bool	can_transform (const std::string &target_frame, const fawkes::Time &target_time, const std::string &source_frame, const fawkes::Time &source_time, const std::string &fixed_frame) const
	Test if a transform is possible.
const TimeCache *	get_frame_cache (const std::string &frame_id) const
	An accessor to get access to the frame cache.
void	set_enabled (bool enabled)
	Set transformer enabled or disabled.
bool	is_enabled () const
	Check if transformer is enabled.
int	get_latest_common_time (const std::string &source_frame, const std::string &target_frame, fawkes::Time &time, std::string *error_string=0) const
	Get latest common time of two frames.
void	transform_quaternion (const std::string &target_frame, const Stamped< Quaternion > &stamped_in, Stamped< Quaternion > &stamped_out) const
	Transform a stamped Quaternion into the target frame.
void	transform_vector (const std::string &target_frame, const Stamped< Vector3 > &stamped_in, Stamped< Vector3 > &stamped_out) const
	Transform a stamped vector into the target frame.
void	transform_point (const std::string &target_frame, const Stamped< Point > &stamped_in, Stamped< Point > &stamped_out) const
	Transform a stamped point into the target frame.
void	transform_pose (const std::string &target_frame, const Stamped< Pose > &stamped_in, Stamped< Pose > &stamped_out) const
	Transform a stamped pose into the target frame.
void	transform_quaternion (const std::string &target_frame, const fawkes::Time &target_time, const Stamped< Quaternion > &stamped_in, const std::string &fixed_frame, Stamped< Quaternion > &stamped_out) const
	Transform a stamped Quaternion into the target frame assuming a fixed frame.
void	transform_vector (const std::string &target_frame, const fawkes::Time &target_time, const Stamped< Vector3 > &stamped_in, const std::string &fixed_frame, Stamped< Vector3 > &stamped_out) const
	Transform a stamped vector into the target frame assuming a fixed frame.
void	transform_point (const std::string &target_frame, const fawkes::Time &target_time, const Stamped< Point > &stamped_in, const std::string &fixed_frame, Stamped< Point > &stamped_out) const
	Transform a stamped point into the target frame assuming a fixed frame.
void	transform_pose (const std::string &target_frame, const fawkes::Time &target_time, const Stamped< Pose > &stamped_in, const std::string &fixed_frame, Stamped< Pose > &stamped_out) const
	Transform a stamped pose into the target frame assuming a fixed frame.
Public Member Functions inherited from fawkes::BlackBoardInterfaceObserver
	BlackBoardInterfaceObserver ()
	Empty constructor.
virtual	~BlackBoardInterfaceObserver ()
	Destructor.
virtual void	bb_interface_destroyed (const char type, const char id) throw ()
	BlackBoard interface destroyed notification.
Public Member Functions inherited from fawkes::BlackBoardInterfaceListener
	BlackBoardInterfaceListener (const char *name_format,...)
	Constructor.
virtual	~BlackBoardInterfaceListener ()
	Destructor.
const char *	bbil_name () const
	Get BBIL name.
virtual bool	bb_interface_message_received (Interface interface, Message message) throw ()
	BlackBoard message received notification.
virtual void	bb_interface_writer_added (Interface *interface, unsigned int instance_serial) throw ()
	A writing instance has been opened for a watched interface.
virtual void	bb_interface_reader_added (Interface *interface, unsigned int instance_serial) throw ()
	A reading instance has been opened for a watched interface.

Additional Inherited Members
Public Types inherited from fawkes::BlackBoardInterfaceListener
enum	QueueEntryType { DATA = 0, MESSAGES = 1, READER = 2, WRITER = 3 }
	Queue entry type. More...
typedef std::list< QueueEntry >	InterfaceQueue
	Queue of additions/removal of interfaces.
typedef std::map< std::string, Interface * >	InterfaceMap
	Map of currently active event subscriptions.
Static Public Attributes inherited from fawkes::tf::Transformer
static const unsigned int	MAX_GRAPH_DEPTH = 100UL
	Maximum number of times to recurse before assuming the tree has a loop.
static const float	DEFAULT_MAX_EXTRAPOLATION_DISTANCE = 0.f
	The default amount of time to extrapolate.
Protected Types inherited from fawkes::tf::Transformer
typedef std::unordered_map < std::string, CompactFrameID >	M_StringToCompactFrameID
	Map from string frame ids to CompactFrameID.
Protected Types inherited from fawkes::BlackBoardInterfaceObserver
typedef LockMap< std::string, std::list< std::string > >	ObservedInterfaceLockMap
	Type for lockable interface type hash sets.
typedef ObservedInterfaceLockMap::iterator	ObservedInterfaceLockMapIterator
	Type for iterator of lockable interface type hash sets.
Protected Member Functions inherited from fawkes::tf::Transformer
TimeCache *	get_frame (unsigned int frame_number) const
	An accessor to get a frame.
CompactFrameID	lookup_frame_number (const std::string &frameid_str) const
	String to number for frame lookup.
CompactFrameID	lookup_or_insert_frame_number (const std::string &frameid_str)
	String to number for frame lookup with dynamic allocation of new frames.
std::string	lookup_frame_string (unsigned int frame_id_num) const
	Get frame ID given its number.
Protected Member Functions inherited from fawkes::BlackBoardInterfaceObserver
void	bbio_add_observed_create (const char type_pattern, const char id_pattern="*") throw ()
	Add interface creation type to watch list.
void	bbio_add_observed_destroy (const char type_pattern, const char id_pattern="*") throw ()
	Add interface destruction type to watch list.
ObservedInterfaceLockMap *	bbio_get_observed_create () throw ()
	Get interface creation type watch list.
ObservedInterfaceLockMap *	bbio_get_observed_destroy () throw ()
	Get interface destriction type watch list.
Protected Member Functions inherited from fawkes::BlackBoardInterfaceListener
void	bbil_add_data_interface (Interface *interface)
	Add an interface to the data modification watch list.
void	bbil_add_message_interface (Interface *interface)
	Add an interface to the message received watch list.
void	bbil_add_reader_interface (Interface *interface)
	Add an interface to the reader addition/removal watch list.
void	bbil_add_writer_interface (Interface *interface)
	Add an interface to the writer addition/removal watch list.
void	bbil_remove_data_interface (Interface *interface)
	Remove an interface to the data modification watch list.
void	bbil_remove_message_interface (Interface *interface)
	Remove an interface to the message received watch list.
void	bbil_remove_reader_interface (Interface *interface)
	Remove an interface to the reader addition/removal watch list.
void	bbil_remove_writer_interface (Interface *interface)
	Remove an interface to the writer addition/removal watch list.
Interface *	bbil_data_interface (const char *iuid) throw ()
	Get interface instance for given UID.
Interface *	bbil_message_interface (const char *iuid) throw ()
	Get interface instance for given UID.
Interface *	bbil_reader_interface (const char *iuid) throw ()
	Get interface instance for given UID.
Interface *	bbil_writer_interface (const char *iuid) throw ()
	Get interface instance for given UID.
Protected Attributes inherited from fawkes::tf::Transformer
bool	enabled_
	Flag to mark the transformer as disabled.
M_StringToCompactFrameID	frameIDs_
	Map from frame IDs to frame numbers.
std::vector< std::string >	frameIDs_reverse
	Map from CompactFrameID frame_id_numbers to string for debugging and output.
std::map< CompactFrameID, std::string >	frame_authority_
	Map to lookup the most recent authority for a given frame.
std::vector< TimeCache * >	frames_
	The pointers to potential frames that the tree can be made of.
Mutex *	frame_mutex_
	A mutex to protect testing and allocating new frames on the above vector.
float	cache_time_
	How long to cache transform history.
float	max_extrapolation_distance_
	whether or not to allow extrapolation
std::string	tf_prefix_
	transform prefix to apply as necessary
bool	fall_back_to_wall_time_
	Set to true to allow falling back to wall time.

Detailed Description

Receive transforms and answer queries.

This class connects to the blackboard and listens to all interfaces publishing transforms. It opens all interfaces of type TransformInterface with a TF prefix. The data is internally cached. Queries are then resolved based on the received information.

Author:: Tim Niemueller

Definition at line 74 of file transform_listener.h.

Constructor & Destructor Documentation

fawkes::tf::TransformListener::TransformListener ( BlackBoard * bb )

Constructor.

Parameters:

bb	blackboard to listen to

Definition at line 80 of file transform_listener.cpp.

References fawkes::BlackBoardInterfaceListener::bbil_add_data_interface(), fawkes::BlackBoardInterfaceObserver::bbio_add_observed_create(), fawkes::BlackBoard::open_multiple_for_reading(), fawkes::BlackBoard::register_listener(), fawkes::BlackBoard::register_observer(), and fawkes::tf::Transformer::set_enabled().

fawkes::tf::TransformListener::~TransformListener ( )

virtual

Destructor.

Definition at line 103 of file transform_listener.cpp.

References fawkes::BlackBoard::close(), fawkes::BlackBoard::unregister_listener(), and fawkes::BlackBoard::unregister_observer().

Member Function Documentation

void fawkes::tf::TransformListener::bb_interface_created	(	const char *	type,
		const char *	id
	)		throw ()

virtual

BlackBoard interface created notification.

This is called whenever an interface is created for a type that you registered for.

Parameters:

type	type of the interface. If you want to store this make a copy as it is not guaranteed that the supplied string exists for longer than the duration of the method call
id	ID of the newly created interface. If you want to store this make a copy as it is not guaranteed that the supplied string exists for longer than the duration of the method call

Reimplemented from fawkes::BlackBoardInterfaceObserver.

Definition at line 129 of file transform_listener.cpp.

void fawkes::tf::TransformListener::bb_interface_data_changed ( Interface * interface ) throw ()

virtual

BlackBoard data changed notification.

This is called whenever the data in an interface that you registered for is modified. This happens if a writer calls the Interface::write() method.

Parameters:

interface interface instance that you supplied to bbil_add_data_interface()

Reimplemented from fawkes::BlackBoardInterfaceListener.

Definition at line 193 of file transform_listener.cpp.

References fawkes::TransformInterface::child_frame(), fawkes::TransformInterface::frame(), fawkes::Interface::read(), fawkes::TransformInterface::rotation(), fawkes::Interface::timestamp(), and fawkes::TransformInterface::translation().

void fawkes::tf::TransformListener::bb_interface_reader_removed	(	Interface *	interface,
		unsigned int	instance_serial
	)		throw ()

virtual

A reading instance has been closed for a watched interface.

This is called whenever a reading instance of an interface you are watching is closed.

Parameters:

interface	interface instance that you supplied to bbil_add_reader_interface()
instance_serial	the instance serial of the reading instance that has just been removed.

Reimplemented from fawkes::BlackBoardInterfaceListener.

Definition at line 161 of file transform_listener.cpp.

void fawkes::tf::TransformListener::bb_interface_writer_removed	(	Interface *	interface,
		unsigned int	instance_serial
	)		throw ()

virtual

A writing instance has been closed for a watched interface.

This is called whenever a writing instance of an interface you are watching is closed.

Parameters:

interface	interface instance that you supplied to bbil_add_writer_interface()
instance_serial	the instance serial of the writing instance that has just been removed.

Reimplemented from fawkes::BlackBoardInterfaceListener.

Definition at line 152 of file transform_listener.cpp.

std::string fawkes::tf::TransformListener::resolve ( const std::string & frame_name )

Resolve transform name.

Parameters:

frame_name frame name

Returns:: resolved frame name

Definition at line 123 of file transform_listener.cpp.

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

src/libs/tf/transform_listener.h
src/libs/tf/transform_listener.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation