transformClient: Documentation to be added More...

#include <transformClient/FrameTransformClient.h>

Inheritance diagram for FrameTransformClient:

Classes
struct	broadcast_port_t

Public Member Functions
bool	open (yarp::os::Searchable &config) override
	Open the DeviceDriver. More...

bool	close () override
	Close the DeviceDriver. More...

bool	read (yarp::os::ConnectionReader &connection) override
	Read this object from a network connection. More...

yarp::os::Stamp	getLastInputStamp ()
	Get the time stamp for the last read data. More...

bool	allFramesAsString (std::string &all_frames) override
	Creates a debug string containing the list of all registered frames. More...

bool	canTransform (const std::string &target_frame, const std::string &source_frame) override
	Test if a transform exists. More...

bool	clear () override
	Removes all the registered transforms. More...

bool	frameExists (const std::string &frame_id) override
	Check if a frame exists. More...

bool	getAllFrameIds (std::vector< std::string > &ids) override
	Gets a vector containing all the registered frames. More...

bool	getParent (const std::string &frame_id, std::string &parent_frame_id) override
	Get the parent of a frame. More...

bool	getTransform (const std::string &target_frame_id, const std::string &source_frame_id, yarp::sig::Matrix &transform) override
	Get the transform between two frames. More...

bool	setTransform (const std::string &target_frame_id, const std::string &source_frame_id, const yarp::sig::Matrix &transform) override
	Register a transform between two frames. More...

bool	setTransformStatic (const std::string &target_frame_id, const std::string &source_frame_id, const yarp::sig::Matrix &transform) override
	Register a static transform between two frames. More...

bool	deleteTransform (const std::string &target_frame_id, const std::string &source_frame_id) override
	Deletes a transform between two frames. More...

bool	transformPoint (const std::string &target_frame_id, const std::string &source_frame_id, const yarp::sig::Vector &input_point, yarp::sig::Vector &transformed_point) override
	Transform a point into the target frame. More...

bool	transformPose (const std::string &target_frame_id, const std::string &source_frame_id, const yarp::sig::Vector &input_pose, yarp::sig::Vector &transformed_pose) override
	Transform a Stamped Pose into the target frame. More...

bool	transformQuaternion (const std::string &target_frame_id, const std::string &source_frame_id, const yarp::math::Quaternion &input_quaternion, yarp::math::Quaternion &transformed_quaternion) override
	Transform a quaternion into the target frame. More...

bool	waitForTransform (const std::string &target_frame_id, const std::string &source_frame_id, const double &timeout) override
	Block until a transform from source_frame_id to target_frame_id is possible or it times out. More...

bool	isConnectedWithServer () override
	Returns true if the client is connected with the server, false otherwise. More...

bool	reconnectWithServer () override
	Attempts to reconnect the client with the server. More...

	FrameTransformClient ()

	~FrameTransformClient ()

bool	threadInit () override
	Initialization method. More...

void	threadRelease () override
	Release method. More...

void	run () override
	Loop function. More...

Public Member Functions inherited from yarp::dev::DeviceDriver
	~DeviceDriver () override=default
	Destructor. More...

template<class T >
bool	view (T *&x)
	Get an interface to the device driver. More...

virtual DeviceDriver *	getImplementation ()
	Some drivers are bureaucrats, pointing at others. More...

Public Member Functions inherited from yarp::os::IConfig
virtual	~IConfig ()
	Destructor. More...

virtual bool	configure (Searchable &config)
	Change online parameters. More...

Public Member Functions inherited from yarp::dev::IFrameTransform
virtual	~IFrameTransform ()
	Destructor. More...

Public Member Functions inherited from yarp::dev::IFrameTransformClientControl
virtual	~IFrameTransformClientControl ()
	Destructor. More...

Public Member Functions inherited from yarp::os::PortReader
virtual	~PortReader ()
	Destructor. More...

virtual Type	getReadType () const

Public Member Functions inherited from yarp::os::PeriodicThread
	PeriodicThread (double period, ShouldUseSystemClock useSystemClock=ShouldUseSystemClock::No)
	Constructor. More...

virtual	~PeriodicThread ()

bool	start ()
	Call this to start the thread. More...

void	step ()
	Call this to "step" the thread rather than starting it. More...

void	stop ()
	Call this to stop the thread, this call blocks until the thread is terminated (and releaseThread() called). More...

void	askToStop ()
	Stop the thread. More...

bool	isRunning () const
	Returns true when the thread is started, false otherwise. More...

bool	isSuspended () const
	Returns true when the thread is suspended, false otherwise. More...

bool	setPeriod (double period)
	Set the (new) period of the thread. More...

double	getPeriod () const
	Return the current period of the thread. More...

void	suspend ()
	Suspend the thread, the thread keeps running by doLoop is never executed. More...

void	resume ()
	Resume the thread if previously suspended. More...

void	resetStat ()
	Reset thread statistics. More...

double	getEstimatedPeriod () const
	Return estimated period since last reset. More...

void	getEstimatedPeriod (double &av, double &std) const
	Return estimated period since last reset. More...

unsigned int	getIterations () const
	Return the number of iterations performed since last reset. More...

double	getEstimatedUsed () const
	Return the estimated duration of the run() function since last reset. More...

void	getEstimatedUsed (double &av, double &std) const
	Return estimated duration of the run() function since last reset. More...

int	setPriority (int priority, int policy=-1)
	Set the priority and scheduling policy of the thread, if the OS supports that. More...

int	getPriority () const
	Query the current priority of the thread, if the OS supports that. More...

int	getPolicy () const
	Query the current scheduling policy of the thread, if the OS supports that. More...

Protected Attributes
yarp::os::Port	m_rpc_InterfaceToServer

yarp::os::Port	m_rpc_InterfaceToUser

std::string	m_local_name

std::string	m_remote_name

std::string	m_local_rpcServer

std::string	m_local_rpcUser

std::string	m_remote_rpc

std::string	m_remote_streaming_name

std::string	m_local_streaming_name

std::string	m_streaming_connection_type

Transforms_client_storage *	m_transform_storage

double	m_period

std::mutex	m_rpc_mutex

std::vector< broadcast_port_t * >	m_array_of_ports

Additional Inherited Members
Public Types inherited from yarp::dev::IFrameTransform
enum	{ TRANSFORM_OK = 0, TRANSFORM_GENERAL_ERROR = 1, TRANSFORM_TIMEOUT = 2 }

Protected Member Functions inherited from yarp::os::PeriodicThread
virtual void	beforeStart ()
	Called just before a new thread starts. More...

virtual void	afterStart (bool success)
	Called just after a new thread starts (or fails to start), this is executed by the same thread that calls start(). More...

Detailed Description

transformClient: Documentation to be added

Definition at line 86 of file FrameTransformClient.h.

Constructor & Destructor Documentation

◆ FrameTransformClient()

FrameTransformClient::FrameTransformClient ( )

Definition at line 917 of file FrameTransformClient.cpp.

◆ ~FrameTransformClient()

FrameTransformClient::~FrameTransformClient ( )

default

Member Function Documentation

◆ allFramesAsString()

bool FrameTransformClient::allFramesAsString ( std::string & all_frames )

overridevirtual

Creates a debug string containing the list of all registered frames.

Parameters

all_frames the returned string containing the frames

Returns: true/false

Implements yarp::dev::IFrameTransform.

Definition at line 476 of file FrameTransformClient.cpp.

◆ canTransform()

bool FrameTransformClient::canTransform	(	const std::string &	target_frame,
		const std::string &	source_frame
	)

overridevirtual

Test if a transform exists.

Parameters

target_frame_id	the name of target reference frame
source_frame_id	the name of source reference frame

Returns: true/false

Implements yarp::dev::IFrameTransform.

Definition at line 538 of file FrameTransformClient.cpp.

◆ clear()

bool FrameTransformClient::clear ( )

overridevirtual

Removes all the registered transforms.

Returns: true/false

Implements yarp::dev::IFrameTransform.

Definition at line 543 of file FrameTransformClient.cpp.

◆ close()

bool FrameTransformClient::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 464 of file FrameTransformClient.cpp.

◆ deleteTransform()

bool FrameTransformClient::deleteTransform	(	const std::string &	target_frame_id,
		const std::string &	source_frame_id
	)

overridevirtual

Deletes a transform between two frames.

Parameters

target_frame_id	the name of target reference frame
source_frame_id	the name of source reference frame

Returns: true/false

Implements yarp::dev::IFrameTransform.

Definition at line 808 of file FrameTransformClient.cpp.

◆ frameExists()

bool FrameTransformClient::frameExists ( const std::string & frame_id )

overridevirtual

Check if a frame exists.

Parameters

frame_id	the frame to be searched
target_frame_id	the name of target reference frame
source_frame_id	the name of source reference frame

Returns: true/false

Implements yarp::dev::IFrameTransform.

Definition at line 568 of file FrameTransformClient.cpp.

◆ getAllFrameIds()

bool FrameTransformClient::getAllFrameIds ( std::vector< std::string > & ids )

overridevirtual

Gets a vector containing all the registered frames.

Parameters

ids	the returned vector containing all frame ids

Returns: true/false

Implements yarp::dev::IFrameTransform.

Definition at line 578 of file FrameTransformClient.cpp.

◆ getLastInputStamp()

yarp::os::Stamp FrameTransformClient::getLastInputStamp ( )

Get the time stamp for the last read data.

Returns: last time stamp.

◆ getParent()

bool FrameTransformClient::getParent	(	const std::string &	frame_id,
		std::string &	parent_frame_id
	)

overridevirtual

Get the parent of a frame.

Parameters

frame_id	the name of target reference frame
parent_frame_id	the name of parent reference frame

Returns: true/false

Implements yarp::dev::IFrameTransform.

Definition at line 603 of file FrameTransformClient.cpp.

◆ getTransform()

bool FrameTransformClient::getTransform	(	const std::string &	target_frame_id,
		const std::string &	source_frame_id,
		yarp::sig::Matrix &	transform
	)

overridevirtual

Get the transform between two frames.

Parameters

target_frame_id	the name of target reference frame
source_frame_id	the name of source reference frame
transform	the transformation matrix from source_frame_id to target_frame_id

Returns: true/false

Implements yarp::dev::IFrameTransform.

Definition at line 665 of file FrameTransformClient.cpp.

◆ isConnectedWithServer()

bool FrameTransformClient::isConnectedWithServer ( )

overridevirtual

Returns true if the client is connected with the server, false otherwise.

Returns: true/false

Implements yarp::dev::IFrameTransformClientControl.

Definition at line 964 of file FrameTransformClient.cpp.

◆ open()

bool FrameTransformClient::open ( yarp::os::Searchable & config )

overridevirtual

Open the DeviceDriver.

Parameters

config is a list of parameters for the device. Which parameters are effective for your device can vary. See device invocation examples. If there is no example for your device, you can run the "yarpdev" program with the verbose flag set to probe what parameters the device is checking. If that fails too, you'll need to read the source code (please nag one of the yarp developers to add documentation for your device).

Returns: true/false upon success/failure

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 396 of file FrameTransformClient.cpp.

◆ read()

bool FrameTransformClient::read ( yarp::os::ConnectionReader & reader )

overridevirtual

Read this object from a network connection.

Override this for your particular class.

Parameters

reader an interface to the network connection for reading

Returns: true iff the object is successfully read

Implements yarp::os::PortReader.

Definition at line 199 of file FrameTransformClient.cpp.

◆ reconnectWithServer()

bool FrameTransformClient::reconnectWithServer ( )

overridevirtual

Attempts to reconnect the client with the server.

Returns true if the operation is succesful, false otherwise.

Returns: true/false

Implements yarp::dev::IFrameTransformClientControl.

Definition at line 975 of file FrameTransformClient.cpp.

◆ run()

void FrameTransformClient::run ( )

overridevirtual

Loop function.

This is the thread itself. The thread calls the run() function every <period> ms. At the end of each run, the thread will sleep the amounth of time required, taking into account the time spent inside the loop function. Example: requested period is 10ms, the run() function take 3ms to be executed, the thread will sleep for 7ms.

Note: after each run is completed, the thread will call a yield() in order to facilitate other threads to run.

Implements yarp::os::PeriodicThread.

Definition at line 936 of file FrameTransformClient.cpp.

◆ setTransform()

bool FrameTransformClient::setTransform	(	const std::string &	target_frame_id,
		const std::string &	source_frame_id,
		const yarp::sig::Matrix &	transform
	)

overridevirtual

Register a transform between two frames.

Parameters

target_frame_id	the name of target reference frame
source_frame_id	the name of source reference frame
transform	the transformation matrix from source_frame_id to target_frame_id

Returns: true/false

Implements yarp::dev::IFrameTransform.

Definition at line 700 of file FrameTransformClient.cpp.

◆ setTransformStatic()

bool FrameTransformClient::setTransformStatic	(	const std::string &	target_frame_id,
		const std::string &	source_frame_id,
		const yarp::sig::Matrix &	transform
	)

overridevirtual

Register a static transform between two frames.

Parameters

target_frame_id	the name of target reference frame
source_frame_id	the name of source reference frame
transform	the transformation matrix from source_frame_id to target_frame_id

Returns: true/false

Implements yarp::dev::IFrameTransform.

Definition at line 754 of file FrameTransformClient.cpp.

◆ threadInit()

bool FrameTransformClient::threadInit ( )

overridevirtual

Initialization method.

The thread executes this function when it starts and before "run". This is a good place to perform initialization tasks that need to be done by the thread itself (device drivers initialization, memory allocation etc). If the function returns false the thread quits and never calls "run". The return value of threadInit() is notified to the class and passed as a parameter to afterStart(). Note that afterStart() is called by the same thread that is executing the "start" method.

Reimplemented from yarp::os::PeriodicThread.

Definition at line 925 of file FrameTransformClient.cpp.

◆ threadRelease()

void FrameTransformClient::threadRelease ( )

overridevirtual

Release method.

The thread executes this function once when it exits, after the last "run". This is a good place to release resources that were initialized in threadInit() (release memory, and device driver resources).

Reimplemented from yarp::os::PeriodicThread.

Definition at line 931 of file FrameTransformClient.cpp.

◆ transformPoint()

bool FrameTransformClient::transformPoint	(	const std::string &	target_frame_id,
		const std::string &	source_frame_id,
		const yarp::sig::Vector &	input_point,
		yarp::sig::Vector &	transformed_point
	)

overridevirtual

Transform a point into the target frame.

Parameters

target_frame_id	the name of target reference frame
source_frame_id	the name of frame in which input_point is expressed
input_point	the input point (x y z)
transformed_point	the returned point (x y z)

Returns: true/false

Implements yarp::dev::IFrameTransform.

Definition at line 833 of file FrameTransformClient.cpp.

◆ transformPose()

bool FrameTransformClient::transformPose	(	const std::string &	target_frame_id,
		const std::string &	source_frame_id,
		const yarp::sig::Vector &	input_pose,
		yarp::sig::Vector &	transformed_pose
	)

overridevirtual

Transform a Stamped Pose into the target frame.

Parameters

target_frame_id	the name of target reference frame
source_frame_id	the name of frame in which input_pose is expressed
input_pose	the input quaternion (x y z r p y)
transformed_pose	the returned (x y z r p y)

Returns: true/false

Implements yarp::dev::IFrameTransform.

Definition at line 853 of file FrameTransformClient.cpp.

◆ transformQuaternion()

bool FrameTransformClient::transformQuaternion	(	const std::string &	target_frame_id,
		const std::string &	source_frame_id,
		const yarp::math::Quaternion &	input_quaternion,
		yarp::math::Quaternion &	transformed_quaternion
	)

overridevirtual

Transform a quaternion into the target frame.

Parameters

target_frame_id	the name of target reference frame
source_frame_id	the name of frame in which input_quaternion is expressed
input_quaternion	the input quaternion (x y z w)
transformed_quaternion	the returned quaternion (x y z w)

Returns: true/false

Implements yarp::dev::IFrameTransform.

Definition at line 887 of file FrameTransformClient.cpp.

◆ waitForTransform()

bool FrameTransformClient::waitForTransform	(	const std::string &	target_frame_id,
		const std::string &	source_frame_id,
		const double &	timeout
	)

overridevirtual

Block until a transform from source_frame_id to target_frame_id is possible or it times out.

Parameters

target_frame_id	the name of target reference frame
source_frame_id	the name of source reference frame
timeout	(in seconds) to wait for
error_msg	string filled with error message (if error occurred)

Returns: true/false

Implements yarp::dev::IFrameTransform.

Definition at line 901 of file FrameTransformClient.cpp.

Member Data Documentation

◆ m_array_of_ports

std::vector<broadcast_port_t*> FrameTransformClient::m_array_of_ports

protected

Definition at line 125 of file FrameTransformClient.h.

◆ m_local_name

std::string FrameTransformClient::m_local_name

protected

Definition at line 105 of file FrameTransformClient.h.

◆ m_local_rpcServer

std::string FrameTransformClient::m_local_rpcServer

protected

Definition at line 108 of file FrameTransformClient.h.

◆ m_local_rpcUser

std::string FrameTransformClient::m_local_rpcUser

protected

Definition at line 109 of file FrameTransformClient.h.

◆ m_local_streaming_name

std::string FrameTransformClient::m_local_streaming_name

protected

Definition at line 112 of file FrameTransformClient.h.

◆ m_period

double FrameTransformClient::m_period

protected

Definition at line 116 of file FrameTransformClient.h.

◆ m_remote_name

std::string FrameTransformClient::m_remote_name

protected

Definition at line 106 of file FrameTransformClient.h.

◆ m_remote_rpc

std::string FrameTransformClient::m_remote_rpc

protected

Definition at line 110 of file FrameTransformClient.h.

◆ m_remote_streaming_name

std::string FrameTransformClient::m_remote_streaming_name

protected

Definition at line 111 of file FrameTransformClient.h.

◆ m_rpc_InterfaceToServer

yarp::os::Port FrameTransformClient::m_rpc_InterfaceToServer

protected

Definition at line 103 of file FrameTransformClient.h.

◆ m_rpc_InterfaceToUser

yarp::os::Port FrameTransformClient::m_rpc_InterfaceToUser

protected

Definition at line 104 of file FrameTransformClient.h.

◆ m_rpc_mutex

std::mutex FrameTransformClient::m_rpc_mutex

protected

Definition at line 117 of file FrameTransformClient.h.

◆ m_streaming_connection_type

std::string FrameTransformClient::m_streaming_connection_type

protected

Definition at line 114 of file FrameTransformClient.h.

◆ m_transform_storage

Transforms_client_storage* FrameTransformClient::m_transform_storage

protected

Definition at line 115 of file FrameTransformClient.h.

The documentation for this class was generated from the following files:

src/devices/transformClient/FrameTransformClient.h
src/devices/transformClient/FrameTransformClient.cpp

Classes

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ FrameTransformClient()

◆ ~FrameTransformClient()

Member Function Documentation

◆ allFramesAsString()

◆ canTransform()

◆ clear()

◆ close()

◆ deleteTransform()

◆ frameExists()

◆ getAllFrameIds()

◆ getLastInputStamp()

◆ getParent()

◆ getTransform()

◆ isConnectedWithServer()

◆ open()

◆ read()

◆ reconnectWithServer()

◆ run()

◆ setTransform()

◆ setTransformStatic()

◆ threadInit()

◆ threadRelease()

◆ transformPoint()

◆ transformPose()

◆ transformQuaternion()

◆ waitForTransform()

Member Data Documentation

◆ m_array_of_ports

◆ m_local_name

◆ m_local_rpcServer

◆ m_local_rpcUser

◆ m_local_streaming_name

◆ m_period

◆ m_remote_name

◆ m_remote_rpc

◆ m_remote_streaming_name

◆ m_rpc_InterfaceToServer

◆ m_rpc_InterfaceToUser

◆ m_rpc_mutex

◆ m_streaming_connection_type

◆ m_transform_storage