Fawkes API
Fawkes Development Version
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TransformInterface Fawkes BlackBoard Interface. More...
#include <>>
Public Member Functions | |
virtual bool | message_valid (const Message *message) const |
Check if message is valid and can be enqueued. More... | |
char * | frame () const |
Get frame value. More... | |
void | set_frame (const char *new_frame) |
Set frame value. More... | |
size_t | maxlenof_frame () const |
Get maximum length of frame value. More... | |
char * | child_frame () const |
Get child_frame value. More... | |
void | set_child_frame (const char *new_child_frame) |
Set child_frame value. More... | |
size_t | maxlenof_child_frame () const |
Get maximum length of child_frame value. More... | |
bool | is_static_transform () const |
Get static_transform value. More... | |
void | set_static_transform (const bool new_static_transform) |
Set static_transform value. More... | |
size_t | maxlenof_static_transform () const |
Get maximum length of static_transform value. More... | |
double * | translation () const |
Get translation value. More... | |
double | translation (unsigned int index) const |
Get translation value at given index. More... | |
void | set_translation (unsigned int index, const double new_translation) |
Set translation value at given index. More... | |
void | set_translation (const double *new_translation) |
Set translation value. More... | |
size_t | maxlenof_translation () const |
Get maximum length of translation value. More... | |
double * | rotation () const |
Get rotation value. More... | |
double | rotation (unsigned int index) const |
Get rotation value at given index. More... | |
void | set_rotation (unsigned int index, const double new_rotation) |
Set rotation value at given index. More... | |
void | set_rotation (const double *new_rotation) |
Set rotation value. More... | |
size_t | maxlenof_rotation () const |
Get maximum length of rotation value. More... | |
virtual Message * | create_message (const char *type) const |
Create message based on type name. More... | |
virtual void | copy_values (const Interface *other) |
Copy values from other interface. More... | |
virtual const char * | enum_tostring (const char *enumtype, int val) const |
Convert arbitrary enum value to string. More... | |
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virtual | ~Interface () |
Destructor. More... | |
bool | oftype (const char *interface_type) const |
Check if interface is of given type. More... | |
const void * | datachunk () const |
Get data chunk. More... | |
unsigned int | datasize () const |
Get data size. More... | |
const char * | type () const |
Get type of interface. More... | |
const char * | id () const |
Get identifier of interface. More... | |
const char * | uid () const |
Get unique identifier of interface. More... | |
unsigned short | serial () const |
Get instance serial of interface. More... | |
unsigned int | mem_serial () const |
Get memory serial of interface. More... | |
bool | operator== (Interface &comp) const |
Check equality of two interfaces. More... | |
const unsigned char * | hash () const |
Get interface hash. More... | |
size_t | hash_size () const |
Get size of interface hash. More... | |
const char * | hash_printable () const |
Get printable interface hash. More... | |
bool | is_writer () const |
Check if this is a writing instance. More... | |
void | set_validity (bool valid) |
Mark this interface invalid. More... | |
bool | is_valid () const |
Check validity of interface. More... | |
const char * | owner () const |
Get owner of interface. More... | |
void | set_from_chunk (void *chunk) |
Set from a raw data chunk. More... | |
void | resize_buffers (unsigned int num_buffers) |
Resize buffer array. More... | |
unsigned int | num_buffers () const |
Get number of buffers. More... | |
void | copy_shared_to_buffer (unsigned int buffer) |
Copy data from private memory to buffer. More... | |
void | copy_private_to_buffer (unsigned int buffer) |
Copy data from private memory to buffer. More... | |
void | read_from_buffer (unsigned int buffer) |
Copy data from buffer to private memory. More... | |
int | compare_buffers (unsigned int buffer) |
Compare buffer to private memory. More... | |
Time | buffer_timestamp (unsigned int buffer) |
Get time of a buffer. More... | |
void | buffer_timestamp (unsigned int buffer, Time *timestamp) |
Get time of a buffer. More... | |
void | read () |
Read from BlackBoard into local copy. More... | |
void | write () |
Write from local copy into BlackBoard memory. More... | |
bool | has_writer () const |
Check if there is a writer for the interface. More... | |
unsigned int | num_readers () const |
Get the number of readers. More... | |
std::string | writer () const |
Get owner name of writing interface instance. More... | |
std::list< std::string > | readers () const |
Get owner names of reading interface instances. More... | |
bool | changed () const |
Check if data has been changed. More... | |
const Time * | timestamp () const |
Get timestamp of last write. More... | |
void | set_auto_timestamping (bool enabled) |
Enable or disable automated timestamping. More... | |
void | set_timestamp (const Time *t=NULL) |
Set timestamp. More... | |
void | set_clock (Clock *clock) |
Set clock to use for timestamping. More... | |
void | mark_data_changed () |
Mark data as changed. More... | |
std::list< const char * > | get_message_types () |
Obtain a list of textual representations of the message types available for this interface. More... | |
unsigned int | msgq_enqueue (Message *message) |
Enqueue message at end of queue. More... | |
unsigned int | msgq_enqueue_copy (Message *message) |
Enqueue copy of message at end of queue. More... | |
void | msgq_remove (Message *message) |
Remove message from queue. More... | |
void | msgq_remove (unsigned int message_id) |
Remove message from queue. More... | |
unsigned int | msgq_size () |
Get size of message queue. More... | |
void | msgq_flush () |
Flush all messages. More... | |
void | msgq_lock () |
Lock message queue. More... | |
bool | msgq_try_lock () |
Try to lock message queue. More... | |
void | msgq_unlock () |
Unlock message queue. More... | |
void | msgq_pop () |
Erase first message from queue. More... | |
Message * | msgq_first () |
Get the first message from the message queue. More... | |
bool | msgq_empty () |
Check if queue is empty. More... | |
void | msgq_append (Message *message) |
Enqueue message. More... | |
template<class MessageType > | |
bool | msgq_first_is () |
Check if first message has desired type. More... | |
template<class MessageType > | |
MessageType * | msgq_first () |
Get first message casted to the desired type. More... | |
template<class MessageType > | |
MessageType * | msgq_first (MessageType *&msg) |
Get first message casted to the desired type. More... | |
template<class MessageType > | |
MessageType * | msgq_first_safe (MessageType *&msg) throw () |
Get first message casted to the desired type without exceptions. More... | |
MessageQueue::MessageIterator | msgq_begin () |
Get start iterator for message queue. More... | |
MessageQueue::MessageIterator | msgq_end () |
Get end iterator for message queue. More... | |
InterfaceFieldIterator | fields () |
Get iterator over all fields of this interface instance. More... | |
InterfaceFieldIterator | fields_end () |
Invalid iterator. More... | |
unsigned int | num_fields () |
Get the number of fields in the interface. More... | |
Additional Inherited Members | |
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static void | parse_uid (const char *uid, std::string &type, std::string &id) |
Parse UID to type and ID strings. More... | |
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Interface () | |
Constructor. More... | |
void | set_hash (unsigned char *ihash) |
Set hash. More... | |
void | add_fieldinfo (interface_fieldtype_t type, const char *name, size_t length, void *value, const char *enumtype=0, const interface_enum_map_t *enum_map=0) |
Add an entry to the field info list. More... | |
void | add_messageinfo (const char *name) |
Add an entry to the message info list. More... | |
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void * | data_ptr |
Pointer to local memory storage. More... | |
unsigned int | data_size |
Minimal data size to hold data storage. More... | |
bool | data_changed |
Indicator if data has changed. More... | |
interface_data_ts_t * | data_ts |
Pointer to data casted to timestamp struct. More... | |
TransformInterface Fawkes BlackBoard Interface.
This interface is used to publish transforms. It aims to be as compatible as possible with ROS' tf library and is used extensively by the Fawkes tf library.
For this to work properly it is crucial to have correct timestamp set (cf. Interface::set_timestamp()). Set this as close as possible to the time of when the data, from which the transform is computed, has been acquired.
Definition at line 33 of file TransformInterface.h.
char * fawkes::TransformInterface::child_frame | ( | ) | const |
Get child_frame value.
The ID of the child frame. The child frame's origin is at the given point in the parent frame denoted by the transform.
Definition at line 120 of file TransformInterface.cpp.
Referenced by fawkes::tf::TransformListener::bb_interface_data_changed(), and RosTfThread::bb_interface_reader_removed().
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virtual |
Copy values from other interface.
other | other interface to copy values from |
Implements fawkes::Interface.
Definition at line 355 of file TransformInterface.cpp.
References fawkes::Message::type(), and fawkes::Interface::type().
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virtual |
Create message based on type name.
This will create a new message of the given type. The type must be given without the InterfaceName:: prefix but just the plain class name of the message.
type | message type |
UnknownTypeException | thrown if this interface cannot create a message of the given type. |
Implements fawkes::Interface.
Definition at line 344 of file TransformInterface.cpp.
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virtual |
Convert arbitrary enum value to string.
Given the string representation of the enum type and the value this method returns the string representation of the specific value, or the string UNKNOWN if the value is not defined. An exception is thrown if the enum type is invalid.
enumtype | enum type as string |
val | value to convert |
UnknownTypeException | thrown if enumtype is not specified for interface. |
Implements fawkes::Interface.
Definition at line 366 of file TransformInterface.cpp.
char * fawkes::TransformInterface::frame | ( | ) | const |
Get frame value.
Parent frame ID. The given transform is relative to the origin of this coordinate frame.
Definition at line 83 of file TransformInterface.cpp.
Referenced by fawkes::tf::TransformListener::bb_interface_data_changed(), and RosTfThread::bb_interface_reader_removed().
bool fawkes::TransformInterface::is_static_transform | ( | ) | const |
Get static_transform value.
True if the transform is static, i.e. it will never change during its lifetime, false otherwise.
Definition at line 157 of file TransformInterface.cpp.
Referenced by RosTfThread::bb_interface_data_changed(), fawkes::tf::TransformListener::bb_interface_data_changed(), and RosTfThread::bb_interface_reader_removed().
size_t fawkes::TransformInterface::maxlenof_child_frame | ( | ) | const |
Get maximum length of child_frame value.
Definition at line 130 of file TransformInterface.cpp.
size_t fawkes::TransformInterface::maxlenof_frame | ( | ) | const |
Get maximum length of frame value.
Definition at line 93 of file TransformInterface.cpp.
size_t fawkes::TransformInterface::maxlenof_rotation | ( | ) | const |
Get maximum length of rotation value.
Definition at line 302 of file TransformInterface.cpp.
size_t fawkes::TransformInterface::maxlenof_static_transform | ( | ) | const |
Get maximum length of static_transform value.
Definition at line 167 of file TransformInterface.cpp.
size_t fawkes::TransformInterface::maxlenof_translation | ( | ) | const |
Get maximum length of translation value.
Definition at line 224 of file TransformInterface.cpp.
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virtual |
Check if message is valid and can be enqueued.
message | Message to check |
Implements fawkes::Interface.
Definition at line 377 of file TransformInterface.cpp.
double * fawkes::TransformInterface::rotation | ( | ) | const |
Get rotation value.
This array denotes the rotation quaternion of the transform. The element indexes are ordered x, y, z, w, i.e. translation[0] is the X value of the rotation quaternion and translation[3] is the W value.
Definition at line 272 of file TransformInterface.cpp.
Referenced by fawkes::tf::TransformListener::bb_interface_data_changed(), and RosTfThread::bb_interface_reader_removed().
double fawkes::TransformInterface::rotation | ( | unsigned int | index | ) | const |
Get rotation value at given index.
This array denotes the rotation quaternion of the transform. The element indexes are ordered x, y, z, w, i.e. translation[0] is the X value of the rotation quaternion and translation[3] is the W value.
index | index of value |
Exception | thrown if index is out of bounds |
Definition at line 289 of file TransformInterface.cpp.
void fawkes::TransformInterface::set_child_frame | ( | const char * | new_child_frame | ) |
Set child_frame value.
The ID of the child frame. The child frame's origin is at the given point in the parent frame denoted by the transform.
new_child_frame | new child_frame value |
Definition at line 143 of file TransformInterface.cpp.
References fawkes::Interface::data_changed.
Referenced by fawkes::tf::TransformPublisher::send_transform().
void fawkes::TransformInterface::set_frame | ( | const char * | new_frame | ) |
Set frame value.
Parent frame ID. The given transform is relative to the origin of this coordinate frame.
new_frame | new frame value |
Definition at line 106 of file TransformInterface.cpp.
References fawkes::Interface::data_changed.
Referenced by fawkes::tf::TransformPublisher::send_transform().
void fawkes::TransformInterface::set_rotation | ( | unsigned int | index, |
const double | new_rotation | ||
) |
Set rotation value at given index.
This array denotes the rotation quaternion of the transform. The element indexes are ordered x, y, z, w, i.e. translation[0] is the X value of the rotation quaternion and translation[3] is the W value.
new_rotation | new rotation value |
index | index for of the value |
Definition at line 334 of file TransformInterface.cpp.
References fawkes::Interface::data_changed.
Referenced by fawkes::tf::TransformPublisher::send_transform().
void fawkes::TransformInterface::set_rotation | ( | const double * | new_rotation | ) |
Set rotation value.
This array denotes the rotation quaternion of the transform. The element indexes are ordered x, y, z, w, i.e. translation[0] is the X value of the rotation quaternion and translation[3] is the W value.
new_rotation | new rotation value |
Definition at line 317 of file TransformInterface.cpp.
References fawkes::Interface::data_changed.
void fawkes::TransformInterface::set_static_transform | ( | const bool | new_static_transform | ) |
Set static_transform value.
True if the transform is static, i.e. it will never change during its lifetime, false otherwise.
new_static_transform | new static_transform value |
Definition at line 180 of file TransformInterface.cpp.
References fawkes::Interface::data_changed.
Referenced by fawkes::tf::TransformPublisher::send_transform().
void fawkes::TransformInterface::set_translation | ( | unsigned int | index, |
const double | new_translation | ||
) |
Set translation value at given index.
This array denotes the translation vector of the transform. The element indexes are ordered x, y, z, i.e. translation[0] is the X value of the translation vector.
new_translation | new translation value |
index | index for of the value |
Definition at line 254 of file TransformInterface.cpp.
References fawkes::Interface::data_changed.
Referenced by fawkes::tf::TransformPublisher::send_transform().
void fawkes::TransformInterface::set_translation | ( | const double * | new_translation | ) |
Set translation value.
This array denotes the translation vector of the transform. The element indexes are ordered x, y, z, i.e. translation[0] is the X value of the translation vector.
new_translation | new translation value |
Definition at line 238 of file TransformInterface.cpp.
References fawkes::Interface::data_changed.
double * fawkes::TransformInterface::translation | ( | ) | const |
Get translation value.
This array denotes the translation vector of the transform. The element indexes are ordered x, y, z, i.e. translation[0] is the X value of the translation vector.
Definition at line 195 of file TransformInterface.cpp.
Referenced by fawkes::tf::TransformListener::bb_interface_data_changed(), and RosTfThread::bb_interface_reader_removed().
double fawkes::TransformInterface::translation | ( | unsigned int | index | ) | const |
Get translation value at given index.
This array denotes the translation vector of the transform. The element indexes are ordered x, y, z, i.e. translation[0] is the X value of the translation vector.
index | index of value |
Exception | thrown if index is out of bounds |
Definition at line 211 of file TransformInterface.cpp.