Fawkes API
Fawkes Development Version
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SetInitialPoseMessage Fawkes BlackBoard Interface Message. More...
#include <>>
Public Member Functions | |
SetInitialPoseMessage (const char *ini_frame, const double *ini_rotation, const double *ini_translation, const double *ini_covariance) | |
Constructor with initial values. More... | |
SetInitialPoseMessage () | |
Constructor. More... | |
~SetInitialPoseMessage () | |
Destructor. More... | |
SetInitialPoseMessage (const SetInitialPoseMessage *m) | |
Copy constructor. 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... | |
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 * | clone () const |
Clone this message. More... | |
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Message (const char *type) | |
Constructor. More... | |
Message (const Message *mesg) | |
Copy constructor. More... | |
Message (const Message &mesg) | |
Copy constructor. More... | |
virtual | ~Message () |
Destructor. More... | |
Message & | operator= (const Message &m) |
Assign this message to given message. More... | |
unsigned int | id () const |
Get message ID. More... | |
void | set_id (unsigned int message_id) |
Set message ID. More... | |
void | mark_enqueued () |
Mark message as being enqueued. More... | |
bool | enqueued () const |
Check is message has been enqueued. More... | |
const Time * | time_enqueued () const |
Get time when message was enqueued. More... | |
unsigned int | sender_id () const |
Get ID of sender. More... | |
const char * | sender_thread_name () const |
Get sender of message. More... | |
Interface * | interface () const |
Get transmitting interface. More... | |
const char * | type () const |
Get message type. More... | |
InterfaceFieldIterator | fields () |
Get iterator over all fields of this interface instance. More... | |
InterfaceFieldIterator | fields_end () |
Invalid iterator. More... | |
unsigned int | num_fields () const |
Get the number of fields in the message. More... | |
const void * | datachunk () const |
Get pointer to data. More... | |
unsigned int | datasize () const |
Get size of data. More... | |
unsigned int | hops () const |
Get number of hops. More... | |
void | set_hops (unsigned int hops) |
Set number of hops. More... | |
void | set_from_chunk (const void *chunk) |
Set from raw data chunk. More... | |
unsigned int | recipient () const |
Get recipient memory serial. More... | |
template<class MessageType > | |
bool | is_of_type () |
Check if message has desired type. More... | |
template<class MessageType > | |
MessageType * | as_type () |
Cast message to given type if possible. More... | |
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RefCount () | |
Constructor. More... | |
virtual | ~RefCount () |
Destructor. More... | |
void | ref () |
Increment reference count. More... | |
void | unref () |
Decrement reference count and conditionally delete this instance. More... | |
unsigned int | refcount () |
Get reference count for this instance. More... | |
Additional Inherited Members | |
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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 info list. More... | |
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void * | data_ptr |
Pointer to memory that contains local data. More... | |
unsigned int | data_size |
Size of memory needed to hold all data. More... | |
message_data_ts_t * | data_ts |
data timestamp aliasing pointer More... | |
SetInitialPoseMessage Fawkes BlackBoard Interface Message.
Definition at line 53 of file LocalizationInterface.h.
fawkes::LocalizationInterface::SetInitialPoseMessage::SetInitialPoseMessage | ( | const char * | ini_frame, |
const double * | ini_rotation, | ||
const double * | ini_translation, | ||
const double * | ini_covariance | ||
) |
Constructor with initial values.
ini_frame | initial value for frame |
ini_rotation | initial value for rotation |
ini_translation | initial value for translation |
ini_covariance | initial value for covariance |
Definition at line 145 of file LocalizationInterface.cpp.
References fawkes::Message::add_fieldinfo(), fawkes::Message::data_ptr, fawkes::Message::data_size, fawkes::Message::data_ts, fawkes::IFT_DOUBLE, and fawkes::IFT_STRING.
fawkes::LocalizationInterface::SetInitialPoseMessage::SetInitialPoseMessage | ( | ) |
Constructor.
Definition at line 162 of file LocalizationInterface.cpp.
References fawkes::Message::add_fieldinfo(), fawkes::Message::data_ptr, fawkes::Message::data_size, fawkes::Message::data_ts, fawkes::IFT_DOUBLE, and fawkes::IFT_STRING.
fawkes::LocalizationInterface::SetInitialPoseMessage::~SetInitialPoseMessage | ( | ) |
Destructor.
Definition at line 176 of file LocalizationInterface.cpp.
References fawkes::Message::data_ptr.
fawkes::LocalizationInterface::SetInitialPoseMessage::SetInitialPoseMessage | ( | const SetInitialPoseMessage * | m | ) |
Copy constructor.
m | message to copy from |
Definition at line 184 of file LocalizationInterface.cpp.
References fawkes::Message::data_ptr, fawkes::Message::data_size, and fawkes::Message::data_ts.
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virtual |
Clone this message.
Produces a message of the same type as this message and copies the data to the new message.
Reimplemented from fawkes::Message.
Definition at line 444 of file LocalizationInterface.cpp.
double * fawkes::LocalizationInterface::SetInitialPoseMessage::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 370 of file LocalizationInterface.cpp.
Referenced by AmclThread::finalize().
double fawkes::LocalizationInterface::SetInitialPoseMessage::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 387 of file LocalizationInterface.cpp.
char * fawkes::LocalizationInterface::SetInitialPoseMessage::frame | ( | ) | const |
Get frame value.
Reference coordinate frame for the data.
Definition at line 201 of file LocalizationInterface.cpp.
Referenced by AmclThread::finalize().
size_t fawkes::LocalizationInterface::SetInitialPoseMessage::maxlenof_covariance | ( | ) | const |
Get maximum length of covariance value.
Definition at line 400 of file LocalizationInterface.cpp.
size_t fawkes::LocalizationInterface::SetInitialPoseMessage::maxlenof_frame | ( | ) | const |
Get maximum length of frame value.
Definition at line 211 of file LocalizationInterface.cpp.
size_t fawkes::LocalizationInterface::SetInitialPoseMessage::maxlenof_rotation | ( | ) | const |
Get maximum length of rotation value.
Definition at line 262 of file LocalizationInterface.cpp.
size_t fawkes::LocalizationInterface::SetInitialPoseMessage::maxlenof_translation | ( | ) | const |
Get maximum length of translation value.
Definition at line 328 of file LocalizationInterface.cpp.
double * fawkes::LocalizationInterface::SetInitialPoseMessage::rotation | ( | ) | const |
Get rotation value.
Rotation quaternion relative to reference frame, ordered as (x, y, z, w).
Definition at line 235 of file LocalizationInterface.cpp.
Referenced by AmclThread::finalize().
double fawkes::LocalizationInterface::SetInitialPoseMessage::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 249 of file LocalizationInterface.cpp.
void fawkes::LocalizationInterface::SetInitialPoseMessage::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 431 of file LocalizationInterface.cpp.
Referenced by AmclROSThread::publish_map().
void fawkes::LocalizationInterface::SetInitialPoseMessage::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 415 of file LocalizationInterface.cpp.
void fawkes::LocalizationInterface::SetInitialPoseMessage::set_frame | ( | const char * | new_frame | ) |
Set frame value.
Reference coordinate frame for the data.
new_frame | new frame value |
Definition at line 223 of file LocalizationInterface.cpp.
Referenced by AmclROSThread::publish_map().
void fawkes::LocalizationInterface::SetInitialPoseMessage::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 287 of file LocalizationInterface.cpp.
Referenced by AmclROSThread::publish_map().
void fawkes::LocalizationInterface::SetInitialPoseMessage::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 274 of file LocalizationInterface.cpp.
void fawkes::LocalizationInterface::SetInitialPoseMessage::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 353 of file LocalizationInterface.cpp.
Referenced by AmclROSThread::publish_map().
void fawkes::LocalizationInterface::SetInitialPoseMessage::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 340 of file LocalizationInterface.cpp.
double * fawkes::LocalizationInterface::SetInitialPoseMessage::translation | ( | ) | const |
Get translation value.
Translation vector from the reference frame's origin, ordered as (x, y, z).
Definition at line 301 of file LocalizationInterface.cpp.
Referenced by AmclThread::finalize().
double fawkes::LocalizationInterface::SetInitialPoseMessage::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 315 of file LocalizationInterface.cpp.