Fawkes API
Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * TransformInterface.h - Fawkes BlackBoard Interface - TransformInterface 00004 * 00005 * Templated created: Thu Oct 12 10:49:19 2006 00006 * Copyright 2011 Tim Niemueller 00007 * 00008 ****************************************************************************/ 00009 00010 /* This program is free software; you can redistribute it and/or modify 00011 * it under the terms of the GNU General Public License as published by 00012 * the Free Software Foundation; either version 2 of the License, or 00013 * (at your option) any later version. A runtime exception applies to 00014 * this software (see LICENSE.GPL_WRE file mentioned below for details). 00015 * 00016 * This program is distributed in the hope that it will be useful, 00017 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00018 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00019 * GNU Library General Public License for more details. 00020 * 00021 * Read the full text in the LICENSE.GPL_WRE file in the doc directory. 00022 */ 00023 00024 #ifndef __INTERFACES_TRANSFORMINTERFACE_H_ 00025 #define __INTERFACES_TRANSFORMINTERFACE_H_ 00026 00027 #include <interface/interface.h> 00028 #include <interface/message.h> 00029 #include <interface/field_iterator.h> 00030 00031 namespace fawkes { 00032 00033 class TransformInterface : public Interface 00034 { 00035 /// @cond INTERNALS 00036 INTERFACE_MGMT_FRIENDS(TransformInterface) 00037 /// @endcond 00038 public: 00039 /* constants */ 00040 00041 private: 00042 #pragma pack(push,4) 00043 /** Internal data storage, do NOT modify! */ 00044 typedef struct { 00045 int64_t timestamp_sec; /**< Interface Unix timestamp, seconds */ 00046 int64_t timestamp_usec; /**< Interface Unix timestamp, micro-seconds */ 00047 char frame[32]; /**< 00048 Parent frame ID. The given transform is relative to the origin 00049 of this coordinate frame. 00050 */ 00051 char child_frame[32]; /**< 00052 The ID of the child frame. The child frame's origin is at the 00053 given point in the parent frame denoted by the transform. 00054 */ 00055 double translation[3]; /**< 00056 This array denotes the translation vector of the transform. The 00057 element indexes are ordered x, y, z, i.e. translation[0] is the 00058 X value of the translation vector. 00059 */ 00060 double rotation[4]; /**< 00061 This array denotes the rotation quaternion of the transform. The 00062 element indexes are ordered x, y, z, w, i.e. translation[0] is 00063 the X value of the rotation quaternion and translation[3] is the 00064 W value. 00065 */ 00066 } TransformInterface_data_t; 00067 #pragma pack(pop) 00068 00069 TransformInterface_data_t *data; 00070 00071 public: 00072 /* messages */ 00073 virtual bool message_valid(const Message *message) const; 00074 private: 00075 TransformInterface(); 00076 ~TransformInterface(); 00077 00078 public: 00079 /* Methods */ 00080 char * frame() const; 00081 void set_frame(const char * new_frame); 00082 size_t maxlenof_frame() const; 00083 char * child_frame() const; 00084 void set_child_frame(const char * new_child_frame); 00085 size_t maxlenof_child_frame() const; 00086 double * translation() const; 00087 double translation(unsigned int index) const; 00088 void set_translation(unsigned int index, const double new_translation); 00089 void set_translation(const double * new_translation); 00090 size_t maxlenof_translation() const; 00091 double * rotation() const; 00092 double rotation(unsigned int index) const; 00093 void set_rotation(unsigned int index, const double new_rotation); 00094 void set_rotation(const double * new_rotation); 00095 size_t maxlenof_rotation() const; 00096 virtual Message * create_message(const char *type) const; 00097 00098 virtual void copy_values(const Interface *other); 00099 virtual const char * enum_tostring(const char *enumtype, int val) const; 00100 00101 }; 00102 00103 } // end namespace fawkes 00104 00105 #endif