Fawkes API  Fawkes Development Version
fawkes::Position3DInterface Class Reference

Position3DInterface Fawkes BlackBoard Interface. More...

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Inheritance diagram for fawkes::Position3DInterface:

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...
 
int32_t visibility_history () const
 Get visibility_history value. More...
 
void set_visibility_history (const int32_t new_visibility_history)
 Set visibility_history value. More...
 
size_t maxlenof_visibility_history () const
 Get maximum length of visibility_history 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...
 
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 * covariance () const
 Get covariance value. More...
 
double covariance (unsigned int index) const
 Get covariance value at given index. More...
 
void set_covariance (unsigned int index, const double new_covariance)
 Set covariance value at given index. More...
 
void set_covariance (const double *new_covariance)
 Set covariance value. More...
 
size_t maxlenof_covariance () const
 Get maximum length of covariance value. More...
 
virtual Messagecreate_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...
 
- Public Member Functions inherited from fawkes::Interface
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 Timetimestamp () 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...
 
Messagemsgq_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

- Static Public Member Functions inherited from fawkes::Interface
static void parse_uid (const char *uid, std::string &type, std::string &id)
 Parse UID to type and ID strings. More...
 
- Protected Member Functions inherited from fawkes::Interface
 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...
 
- Protected Attributes inherited from fawkes::Interface
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_tdata_ts
 Pointer to data casted to timestamp struct. More...
 

Detailed Description

Position3DInterface Fawkes BlackBoard Interface.

Storage for a 3D pose in Euclidean space.

Definition at line 33 of file Position3DInterface.h.

Member Function Documentation

◆ copy_values()

void fawkes::Position3DInterface::copy_values ( const Interface other)
virtual

Copy values from other interface.

Parameters
otherother interface to copy values from

Implements fawkes::Interface.

Definition at line 375 of file Position3DInterface.cpp.

References fawkes::Interface::type().

◆ covariance() [1/2]

double * fawkes::Position3DInterface::covariance ( ) const

Get covariance value.

Row-major representation of the 6x6 covariance matrix. The orientation parameters use a fixed-axis representation. In order, the parameters are: (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis)

Returns
covariance value

Definition at line 292 of file Position3DInterface.cpp.

◆ covariance() [2/2]

double fawkes::Position3DInterface::covariance ( unsigned int  index) const

Get covariance value at given index.

Row-major representation of the 6x6 covariance matrix. The orientation parameters use a fixed-axis representation. In order, the parameters are: (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis)

Parameters
indexindex of value
Returns
covariance value
Exceptions
Exceptionthrown if index is out of bounds

Definition at line 309 of file Position3DInterface.cpp.

◆ create_message()

Message * fawkes::Position3DInterface::create_message ( const char *  type) const
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.

Parameters
typemessage type
Returns
message of the given type, empty
Exceptions
UnknownTypeExceptionthrown if this interface cannot create a message of the given type.

Implements fawkes::Interface.

Definition at line 364 of file Position3DInterface.cpp.

◆ enum_tostring()

const char * fawkes::Position3DInterface::enum_tostring ( const char *  enumtype,
int  val 
) const
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.

Parameters
enumtypeenum type as string
valvalue to convert
Returns
string representation of value
Exceptions
UnknownTypeExceptionthrown if enumtype is not specified for interface.

Implements fawkes::Interface.

Definition at line 386 of file Position3DInterface.cpp.

◆ frame()

char * fawkes::Position3DInterface::frame ( ) const

Get frame value.

Reference coordinate frame for the data.

Returns
frame value

Definition at line 75 of file Position3DInterface.cpp.

Referenced by RosPosition3DThread::bb_interface_data_changed().

◆ maxlenof_covariance()

size_t fawkes::Position3DInterface::maxlenof_covariance ( ) const

Get maximum length of covariance value.

Returns
length of covariance value, can be length of the array or number of maximum number of characters for a string

Definition at line 322 of file Position3DInterface.cpp.

◆ maxlenof_frame()

size_t fawkes::Position3DInterface::maxlenof_frame ( ) const

Get maximum length of frame value.

Returns
length of frame value, can be length of the array or number of maximum number of characters for a string

Definition at line 85 of file Position3DInterface.cpp.

◆ maxlenof_rotation()

size_t fawkes::Position3DInterface::maxlenof_rotation ( ) const

Get maximum length of rotation value.

Returns
length of rotation value, can be length of the array or number of maximum number of characters for a string

Definition at line 180 of file Position3DInterface.cpp.

◆ maxlenof_translation()

size_t fawkes::Position3DInterface::maxlenof_translation ( ) const

Get maximum length of translation value.

Returns
length of translation value, can be length of the array or number of maximum number of characters for a string

Definition at line 248 of file Position3DInterface.cpp.

◆ maxlenof_visibility_history()

size_t fawkes::Position3DInterface::maxlenof_visibility_history ( ) const

Get maximum length of visibility_history value.

Returns
length of visibility_history value, can be length of the array or number of maximum number of characters for a string

Definition at line 124 of file Position3DInterface.cpp.

◆ message_valid()

bool fawkes::Position3DInterface::message_valid ( const Message message) const
virtual

Check if message is valid and can be enqueued.

Parameters
messageMessage to check
Returns
true if the message is valid, false otherwise.

Implements fawkes::Interface.

Definition at line 397 of file Position3DInterface.cpp.

◆ rotation() [1/2]

double * fawkes::Position3DInterface::rotation ( ) const

Get rotation value.

Rotation quaternion relative to reference frame, ordered as (x, y, z, w).

Returns
rotation value

Definition at line 153 of file Position3DInterface.cpp.

Referenced by RosPosition3DThread::bb_interface_data_changed(), MapLaserGenThread::loop(), and VisLocalizationThread::loop().

◆ rotation() [2/2]

double fawkes::Position3DInterface::rotation ( unsigned int  index) const

Get rotation value at given index.

Rotation quaternion relative to reference frame, ordered as (x, y, z, w).

Parameters
indexindex of value
Returns
rotation value
Exceptions
Exceptionthrown if index is out of bounds

Definition at line 167 of file Position3DInterface.cpp.

◆ set_covariance() [1/2]

void fawkes::Position3DInterface::set_covariance ( unsigned int  index,
const double  new_covariance 
)

Set covariance value at given index.

Row-major representation of the 6x6 covariance matrix. The orientation parameters use a fixed-axis representation. In order, the parameters are: (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis)

Parameters
new_covariancenew covariance value
indexindex for of the value

Definition at line 354 of file Position3DInterface.cpp.

References fawkes::Interface::data_changed.

◆ set_covariance() [2/2]

void fawkes::Position3DInterface::set_covariance ( const double *  new_covariance)

Set covariance value.

Row-major representation of the 6x6 covariance matrix. The orientation parameters use a fixed-axis representation. In order, the parameters are: (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis)

Parameters
new_covariancenew covariance value

Definition at line 337 of file Position3DInterface.cpp.

References fawkes::Interface::data_changed.

◆ set_frame()

void fawkes::Position3DInterface::set_frame ( const char *  new_frame)

Set frame value.

Reference coordinate frame for the data.

Parameters
new_framenew frame value

Definition at line 97 of file Position3DInterface.cpp.

References fawkes::Interface::data_changed.

Referenced by LocalizationSimThread::loop(), LaserClusterThread::loop(), and TabletopObjectsThread::loop().

◆ set_rotation() [1/2]

void fawkes::Position3DInterface::set_rotation ( unsigned int  index,
const double  new_rotation 
)

Set rotation value at given index.

Rotation quaternion relative to reference frame, ordered as (x, y, z, w).

Parameters
new_rotationnew rotation value
indexindex for of the value

Definition at line 206 of file Position3DInterface.cpp.

References fawkes::Interface::data_changed.

Referenced by TabletopObjectsThread::init(), MapLaserGenThread::loop(), LocalizationSimThread::loop(), LaserClusterThread::loop(), and TabletopObjectsThread::loop().

◆ set_rotation() [2/2]

void fawkes::Position3DInterface::set_rotation ( const double *  new_rotation)

Set rotation value.

Rotation quaternion relative to reference frame, ordered as (x, y, z, w).

Parameters
new_rotationnew rotation value

Definition at line 192 of file Position3DInterface.cpp.

References fawkes::Interface::data_changed.

◆ set_translation() [1/2]

void fawkes::Position3DInterface::set_translation ( unsigned int  index,
const double  new_translation 
)

Set translation value at given index.

Translation vector from the reference frame's origin, ordered as (x, y, z).

Parameters
new_translationnew translation value
indexindex for of the value

Definition at line 274 of file Position3DInterface.cpp.

References fawkes::Interface::data_changed.

Referenced by MapLaserGenThread::loop(), LocalizationSimThread::loop(), LaserClusterThread::loop(), and TabletopObjectsThread::loop().

◆ set_translation() [2/2]

void fawkes::Position3DInterface::set_translation ( const double *  new_translation)

Set translation value.

Translation vector from the reference frame's origin, ordered as (x, y, z).

Parameters
new_translationnew translation value

Definition at line 260 of file Position3DInterface.cpp.

References fawkes::Interface::data_changed.

◆ set_visibility_history()

void fawkes::Position3DInterface::set_visibility_history ( const int32_t  new_visibility_history)

Set visibility_history value.

The visibilitiy history indicates the number of consecutive positive or negative sightings. If the history is negative, there have been as many negative sightings (object not visible) as the absolute value of the history. A positive value denotes as many positive sightings. 0 shall only be used during the initialization of the interface or if the visibility history is not updated.

Parameters
new_visibility_historynew visibility_history value

Definition at line 140 of file Position3DInterface.cpp.

References fawkes::Interface::data_changed.

Referenced by LocalizationSimThread::loop(), LaserClusterThread::loop(), and TabletopObjectsThread::loop().

◆ translation() [1/2]

double * fawkes::Position3DInterface::translation ( ) const

Get translation value.

Translation vector from the reference frame's origin, ordered as (x, y, z).

Returns
translation value

Definition at line 221 of file Position3DInterface.cpp.

Referenced by RosPosition3DThread::bb_interface_data_changed(), MapLaserGenThread::loop(), VisLocalizationThread::loop(), and LaserClusterThread::loop().

◆ translation() [2/2]

double fawkes::Position3DInterface::translation ( unsigned int  index) const

Get translation value at given index.

Translation vector from the reference frame's origin, ordered as (x, y, z).

Parameters
indexindex of value
Returns
translation value
Exceptions
Exceptionthrown if index is out of bounds

Definition at line 235 of file Position3DInterface.cpp.

◆ visibility_history()

int32_t fawkes::Position3DInterface::visibility_history ( ) const

Get visibility_history value.

The visibilitiy history indicates the number of consecutive positive or negative sightings. If the history is negative, there have been as many negative sightings (object not visible) as the absolute value of the history. A positive value denotes as many positive sightings. 0 shall only be used during the initialization of the interface or if the visibility history is not updated.

Returns
visibility_history value

Definition at line 114 of file Position3DInterface.cpp.

Referenced by RosPosition3DThread::bb_interface_data_changed(), LaserClusterThread::loop(), and TabletopObjectsThread::loop().


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