Fawkes API  Fawkes Development Version
TransformInterface.h
1 
2 /***************************************************************************
3  * TransformInterface.h - Fawkes BlackBoard Interface - TransformInterface
4  *
5  * Templated created: Thu Oct 12 10:49:19 2006
6  * Copyright 2011 Tim Niemueller
7  *
8  ****************************************************************************/
9 
10 /* This program is free software; you can redistribute it and/or modify
11  * it under the terms of the GNU General Public License as published by
12  * the Free Software Foundation; either version 2 of the License, or
13  * (at your option) any later version. A runtime exception applies to
14  * this software (see LICENSE.GPL_WRE file mentioned below for details).
15  *
16  * This program is distributed in the hope that it will be useful,
17  * but WITHOUT ANY WARRANTY; without even the implied warranty of
18  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19  * GNU Library General Public License for more details.
20  *
21  * Read the full text in the LICENSE.GPL_WRE file in the doc directory.
22  */
23 
24 #ifndef __INTERFACES_TRANSFORMINTERFACE_H_
25 #define __INTERFACES_TRANSFORMINTERFACE_H_
26 
27 #include <interface/interface.h>
28 #include <interface/message.h>
29 #include <interface/field_iterator.h>
30 
31 namespace fawkes {
32 
34 {
35  /// @cond INTERNALS
36  INTERFACE_MGMT_FRIENDS(TransformInterface)
37  /// @endcond
38  public:
39  /* constants */
40 
41  private:
42  /** Internal data storage, do NOT modify! */
43  typedef struct __attribute__((packed)) {
44  int64_t timestamp_sec; /**< Interface Unix timestamp, seconds */
45  int64_t timestamp_usec; /**< Interface Unix timestamp, micro-seconds */
46  char frame[64]; /**<
47  Parent frame ID. The given transform is relative to the origin
48  of this coordinate frame.
49  */
50  char child_frame[64]; /**<
51  The ID of the child frame. The child frame's origin is at the
52  given point in the parent frame denoted by the transform.
53  */
54  bool static_transform; /**<
55  True if the transform is static, i.e. it will never change
56  during its lifetime, false otherwise.
57  */
58  double translation[3]; /**<
59  This array denotes the translation vector of the transform. The
60  element indexes are ordered x, y, z, i.e. translation[0] is the
61  X value of the translation vector.
62  */
63  double rotation[4]; /**<
64  This array denotes the rotation quaternion of the transform. The
65  element indexes are ordered x, y, z, w, i.e. translation[0] is
66  the X value of the rotation quaternion and translation[3] is the
67  W value.
68  */
69  } TransformInterface_data_t;
70 
71  TransformInterface_data_t *data;
72 
73  public:
74  /* messages */
75  virtual bool message_valid(const Message *message) const;
76  private:
79 
80  public:
81  /* Methods */
82  char * frame() const;
83  void set_frame(const char * new_frame);
84  size_t maxlenof_frame() const;
85  char * child_frame() const;
86  void set_child_frame(const char * new_child_frame);
87  size_t maxlenof_child_frame() const;
88  bool is_static_transform() const;
89  void set_static_transform(const bool new_static_transform);
90  size_t maxlenof_static_transform() const;
91  double * translation() const;
92  double translation(unsigned int index) const;
93  void set_translation(unsigned int index, const double new_translation);
94  void set_translation(const double * new_translation);
95  size_t maxlenof_translation() const;
96  double * rotation() const;
97  double rotation(unsigned int index) const;
98  void set_rotation(unsigned int index, const double new_rotation);
99  void set_rotation(const double * new_rotation);
100  size_t maxlenof_rotation() const;
101  virtual Message * create_message(const char *type) const;
102 
103  virtual void copy_values(const Interface *other);
104  virtual const char * enum_tostring(const char *enumtype, int val) const;
105 
106 };
107 
108 } // end namespace fawkes
109 
110 #endif
Base class for all messages passed through interfaces in Fawkes BlackBoard.
Definition: message.h:44
Fawkes library namespace.
size_t maxlenof_child_frame() const
Get maximum length of child_frame value.
void set_child_frame(const char *new_child_frame)
Set child_frame value.
virtual bool message_valid(const Message *message) const
Check if message is valid and can be enqueued.
TransformInterface Fawkes BlackBoard Interface.
Base class for all Fawkes BlackBoard interfaces.
Definition: interface.h:79
virtual void copy_values(const Interface *other)
Copy values from other interface.
size_t maxlenof_frame() const
Get maximum length of frame value.
virtual const char * enum_tostring(const char *enumtype, int val) const
Convert arbitrary enum value to string.
const char * type() const
Get type of interface.
Definition: interface.cpp:651
char * child_frame() const
Get child_frame value.
void set_static_transform(const bool new_static_transform)
Set static_transform value.
bool is_static_transform() const
Get static_transform value.
void set_rotation(unsigned int index, const double new_rotation)
Set rotation value at given index.
double * translation() const
Get translation value.
size_t maxlenof_static_transform() const
Get maximum length of static_transform value.
double * rotation() const
Get rotation value.
virtual Message * create_message(const char *type) const
Create message based on type name.
void set_translation(unsigned int index, const double new_translation)
Set translation value at given index.
size_t maxlenof_translation() const
Get maximum length of translation value.
void set_frame(const char *new_frame)
Set frame value.
char * frame() const
Get frame value.
size_t maxlenof_rotation() const
Get maximum length of rotation value.