Fawkes API
Fawkes Development Version
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Position3DInterface 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... | |
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 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... | |
Position3DInterface Fawkes BlackBoard Interface.
Storage for a 3D pose in Euclidean space.
Definition at line 33 of file Position3DInterface.h.
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virtual |
Copy values from other interface.
other | other interface to copy values from |
Implements fawkes::Interface.
Definition at line 375 of file Position3DInterface.cpp.
References fawkes::Interface::type().
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)
Definition at line 292 of file Position3DInterface.cpp.
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)
index | index of value |
Exception | thrown if index is out of bounds |
Definition at line 309 of file Position3DInterface.cpp.
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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 364 of file Position3DInterface.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 386 of file Position3DInterface.cpp.
char * fawkes::Position3DInterface::frame | ( | ) | const |
Get frame value.
Reference coordinate frame for the data.
Definition at line 75 of file Position3DInterface.cpp.
Referenced by RosPosition3DThread::bb_interface_data_changed().
size_t fawkes::Position3DInterface::maxlenof_covariance | ( | ) | const |
Get maximum length of covariance value.
Definition at line 322 of file Position3DInterface.cpp.
size_t fawkes::Position3DInterface::maxlenof_frame | ( | ) | const |
Get maximum length of frame value.
Definition at line 85 of file Position3DInterface.cpp.
size_t fawkes::Position3DInterface::maxlenof_rotation | ( | ) | const |
Get maximum length of rotation value.
Definition at line 180 of file Position3DInterface.cpp.
size_t fawkes::Position3DInterface::maxlenof_translation | ( | ) | const |
Get maximum length of translation value.
Definition at line 248 of file Position3DInterface.cpp.
size_t fawkes::Position3DInterface::maxlenof_visibility_history | ( | ) | const |
Get maximum length of visibility_history value.
Definition at line 124 of file Position3DInterface.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 397 of file Position3DInterface.cpp.
double * fawkes::Position3DInterface::rotation | ( | ) | const |
Get rotation value.
Rotation quaternion relative to reference frame, ordered as (x, y, z, w).
Definition at line 153 of file Position3DInterface.cpp.
Referenced by RosPosition3DThread::bb_interface_data_changed(), MapLaserGenThread::loop(), and VisLocalizationThread::loop().
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).
index | index of value |
Exception | thrown if index is out of bounds |
Definition at line 167 of file Position3DInterface.cpp.
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)
new_covariance | new covariance value |
index | index for of the value |
Definition at line 354 of file Position3DInterface.cpp.
References fawkes::Interface::data_changed.
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)
new_covariance | new covariance value |
Definition at line 337 of file Position3DInterface.cpp.
References fawkes::Interface::data_changed.
void fawkes::Position3DInterface::set_frame | ( | const char * | new_frame | ) |
Set frame value.
Reference coordinate frame for the data.
new_frame | new frame value |
Definition at line 97 of file Position3DInterface.cpp.
References fawkes::Interface::data_changed.
Referenced by LocalizationSimThread::loop(), LaserClusterThread::loop(), and TabletopObjectsThread::loop().
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).
new_rotation | new rotation value |
index | index 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().
void fawkes::Position3DInterface::set_rotation | ( | const double * | new_rotation | ) |
Set rotation value.
Rotation quaternion relative to reference frame, ordered as (x, y, z, w).
new_rotation | new rotation value |
Definition at line 192 of file Position3DInterface.cpp.
References fawkes::Interface::data_changed.
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).
new_translation | new translation value |
index | index 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().
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).
new_translation | new translation value |
Definition at line 260 of file Position3DInterface.cpp.
References fawkes::Interface::data_changed.
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.
new_visibility_history | new 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().
double * fawkes::Position3DInterface::translation | ( | ) | const |
Get translation value.
Translation vector from the reference frame's origin, ordered as (x, y, z).
Definition at line 221 of file Position3DInterface.cpp.
Referenced by RosPosition3DThread::bb_interface_data_changed(), MapLaserGenThread::loop(), VisLocalizationThread::loop(), and LaserClusterThread::loop().
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).
index | index of value |
Exception | thrown if index is out of bounds |
Definition at line 235 of file Position3DInterface.cpp.
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.
Definition at line 114 of file Position3DInterface.cpp.
Referenced by RosPosition3DThread::bb_interface_data_changed(), LaserClusterThread::loop(), and TabletopObjectsThread::loop().