Fawkes API  Fawkes Development Version
fawkes::TransformInterface Class Reference

TransformInterface Fawkes BlackBoard Interface. More...

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Inheritance diagram for fawkes::TransformInterface:

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 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

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.

Member Function Documentation

◆ child_frame()

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.

Returns
child_frame value

Definition at line 120 of file TransformInterface.cpp.

Referenced by fawkes::tf::TransformListener::bb_interface_data_changed(), and RosTfThread::bb_interface_reader_removed().

◆ copy_values()

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

Copy values from other interface.

Parameters
otherother interface to copy values from

Implements fawkes::Interface.

Definition at line 355 of file TransformInterface.cpp.

References fawkes::Message::type(), and fawkes::Interface::type().

◆ create_message()

Message * fawkes::TransformInterface::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 344 of file TransformInterface.cpp.

◆ enum_tostring()

const char * fawkes::TransformInterface::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 366 of file TransformInterface.cpp.

◆ frame()

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

Get frame value.

Parent frame ID. The given transform is relative to the origin of this coordinate frame.

Returns
frame value

Definition at line 83 of file TransformInterface.cpp.

Referenced by fawkes::tf::TransformListener::bb_interface_data_changed(), and RosTfThread::bb_interface_reader_removed().

◆ is_static_transform()

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.

Returns
static_transform value

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().

◆ maxlenof_child_frame()

size_t fawkes::TransformInterface::maxlenof_child_frame ( ) const

Get maximum length of child_frame value.

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

Definition at line 130 of file TransformInterface.cpp.

◆ maxlenof_frame()

size_t fawkes::TransformInterface::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 93 of file TransformInterface.cpp.

◆ maxlenof_rotation()

size_t fawkes::TransformInterface::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 302 of file TransformInterface.cpp.

◆ maxlenof_static_transform()

size_t fawkes::TransformInterface::maxlenof_static_transform ( ) const

Get maximum length of static_transform value.

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

Definition at line 167 of file TransformInterface.cpp.

◆ maxlenof_translation()

size_t fawkes::TransformInterface::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 224 of file TransformInterface.cpp.

◆ message_valid()

bool fawkes::TransformInterface::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 377 of file TransformInterface.cpp.

◆ rotation() [1/2]

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.

Returns
rotation value

Definition at line 272 of file TransformInterface.cpp.

Referenced by fawkes::tf::TransformListener::bb_interface_data_changed(), and RosTfThread::bb_interface_reader_removed().

◆ rotation() [2/2]

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.

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

Definition at line 289 of file TransformInterface.cpp.

◆ set_child_frame()

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.

Parameters
new_child_framenew child_frame value

Definition at line 143 of file TransformInterface.cpp.

References fawkes::Interface::data_changed.

Referenced by fawkes::tf::TransformPublisher::send_transform().

◆ set_frame()

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.

Parameters
new_framenew frame value

Definition at line 106 of file TransformInterface.cpp.

References fawkes::Interface::data_changed.

Referenced by fawkes::tf::TransformPublisher::send_transform().

◆ set_rotation() [1/2]

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.

Parameters
new_rotationnew rotation value
indexindex for of the value

Definition at line 334 of file TransformInterface.cpp.

References fawkes::Interface::data_changed.

Referenced by fawkes::tf::TransformPublisher::send_transform().

◆ set_rotation() [2/2]

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.

Parameters
new_rotationnew rotation value

Definition at line 317 of file TransformInterface.cpp.

References fawkes::Interface::data_changed.

◆ set_static_transform()

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.

Parameters
new_static_transformnew static_transform value

Definition at line 180 of file TransformInterface.cpp.

References fawkes::Interface::data_changed.

Referenced by fawkes::tf::TransformPublisher::send_transform().

◆ set_translation() [1/2]

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.

Parameters
new_translationnew translation value
indexindex for of the value

Definition at line 254 of file TransformInterface.cpp.

References fawkes::Interface::data_changed.

Referenced by fawkes::tf::TransformPublisher::send_transform().

◆ set_translation() [2/2]

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.

Parameters
new_translationnew translation value

Definition at line 238 of file TransformInterface.cpp.

References fawkes::Interface::data_changed.

◆ translation() [1/2]

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.

Returns
translation value

Definition at line 195 of file TransformInterface.cpp.

Referenced by fawkes::tf::TransformListener::bb_interface_data_changed(), and RosTfThread::bb_interface_reader_removed().

◆ translation() [2/2]

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.

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

Definition at line 211 of file TransformInterface.cpp.


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