52 #include <tf/transform_listener.h> 53 #include <tf/transformer.h> 55 #include <blackboard/blackboard.h> 56 #include <interfaces/TransformInterface.h> 83 bb_(bb), tf_transformer_(tf_transformer)
88 std::list<TransformInterface *>::iterator i;
89 for (i = tfifs_.begin(); i != tfifs_.end(); ++i) {
110 std::list<TransformInterface *>::iterator i;
111 for (i = tfifs_.begin(); i != tfifs_.end(); ++i) {
122 if (strncmp(type,
"TransformInterface", __INTERFACE_TYPE_SIZE) != 0)
return;
135 tfifs_.push_back(tfif);
144 unsigned int instance_serial)
147 conditional_close(interface);
153 unsigned int instance_serial)
156 conditional_close(interface);
161 TransformListener::conditional_close(
Interface *interface)
throw()
167 std::list<TransformInterface *>::iterator i;
168 for (i = tfifs_.begin(); i != tfifs_.end(); ++i) {
169 if (*interface == **i) {
191 std::string authority = tfif->
writer();
194 double *rotation = tfif->
rotation();
196 const std::string frame_id = tfif->
frame();
197 const std::string child_frame_id = tfif->
child_frame();
199 Vector3 t(translation[0], translation[1], translation[2]);
200 Quaternion r(rotation[0], rotation[1], rotation[2], rotation[3]);
virtual void register_observer(BlackBoardInterfaceObserver *observer)
Register BB interface observer.
std::string writer() const
Get owner name of writing interface instance.
Fawkes library namespace.
bool set_transform(const StampedTransform &transform, const std::string &authority, bool is_static=false)
Add transform information to the tf data structure.
A class for handling time.
virtual void unregister_listener(BlackBoardInterfaceListener *listener)
Unregister BB interface listener.
virtual void update_listener(BlackBoardInterfaceListener *listener, ListenerRegisterFlag flag=BBIL_FLAG_ALL)
Update BB event listener.
Base class for all Fawkes BlackBoard interfaces.
virtual void register_listener(BlackBoardInterfaceListener *listener, ListenerRegisterFlag flag=BBIL_FLAG_ALL)
Register BB event listener.
void bbio_add_observed_create(const char *type_pattern, const char *id_pattern="*")
Add interface creation type to watch list.
Base class for exceptions in Fawkes.
void read()
Read from BlackBoard into local copy.
virtual void unregister_observer(BlackBoardInterfaceObserver *observer)
Unregister BB interface observer.
bool has_writer() const
Check if there is a writer for the interface.
const Time * timestamp() const
Get timestamp of last write.
virtual std::list< Interface * > open_multiple_for_reading(const char *type_pattern, const char *id_pattern="*", const char *owner=NULL)=0
Open multiple interfaces for reading.
void bbil_remove_data_interface(Interface *interface)
Remove an interface to the data modification watch list.
virtual Interface * open_for_reading(const char *interface_type, const char *identifier, const char *owner=NULL)=0
Open interface for reading.
unsigned int num_readers() const
Get the number of readers.
The BlackBoard abstract class.
BlackBoard interface listener.
void bbil_add_data_interface(Interface *interface)
Add an interface to the data modification watch list.
virtual void close(Interface *interface)=0
Close interface.