Transform Interface. More...

#include <yarp/dev/IFrameTransform.h>

Inheritance diagram for yarp::dev::IFrameTransform:

Public Types
enum	{ TRANSFORM_OK = 0, TRANSFORM_GENERAL_ERROR = 1, TRANSFORM_TIMEOUT = 2 }

Public Member Functions
virtual	~IFrameTransform ()
	Destructor. More...

virtual bool	allFramesAsString (std::string &all_frames)=0
	Creates a debug string containing the list of all registered frames. More...

virtual bool	canTransform (const std::string &target_frame, const std::string &source_frame)=0
	Test if a transform exists. More...

virtual bool	clear ()=0
	Removes all the registered transforms. More...

virtual bool	frameExists (const std::string &frame_id)=0
	Check if a frame exists. More...

virtual bool	getAllFrameIds (std::vector< std::string > &ids)=0
	Gets a vector containing all the registered frames. More...

virtual bool	getParent (const std::string &frame_id, std::string &parent_frame_id)=0
	Get the parent of a frame. More...

virtual bool	getTransform (const std::string &target_frame_id, const std::string &source_frame_id, yarp::sig::Matrix &transform)=0
	Get the transform between two frames. More...

virtual bool	setTransform (const std::string &target_frame_id, const std::string &source_frame_id, const yarp::sig::Matrix &transform)=0
	Register a transform between two frames. More...

virtual bool	setTransformStatic (const std::string &target_frame_id, const std::string &source_frame_id, const yarp::sig::Matrix &transform)=0
	Register a static transform between two frames. More...

virtual bool	deleteTransform (const std::string &target_frame_id, const std::string &source_frame_id)=0
	Deletes a transform between two frames. More...

virtual 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)=0
	Transform a point into the target frame. More...

virtual 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)=0
	Transform a Stamped Pose into the target frame. More...

virtual 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)=0
	Transform a quaternion into the target frame. More...

virtual bool	waitForTransform (const std::string &target_frame_id, const std::string &source_frame_id, const double &timeout)=0
	Block until a transform from source_frame_id to target_frame_id is possible or it times out. More...

Detailed Description

Transform Interface.

Definition at line 32 of file IFrameTransform.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

Enumerator
TRANSFORM_OK
TRANSFORM_GENERAL_ERROR
TRANSFORM_TIMEOUT

Definition at line 35 of file IFrameTransform.h.

Constructor & Destructor Documentation

◆ ~IFrameTransform()

yarp::dev::IFrameTransform::~IFrameTransform ( )

virtualdefault

Destructor.

Member Function Documentation

◆ allFramesAsString()

virtual bool yarp::dev::IFrameTransform::allFramesAsString ( std::string & all_frames )

pure virtual

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

Parameters

all_frames the returned string containing the frames

Returns: true/false

Implemented in FrameTransformClient.

◆ canTransform()

virtual bool yarp::dev::IFrameTransform::canTransform	(	const std::string &	target_frame,
		const std::string &	source_frame
	)

pure virtual

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

Implemented in FrameTransformClient.

◆ clear()

virtual bool yarp::dev::IFrameTransform::clear ( )

pure virtual

Removes all the registered transforms.

Returns: true/false

Implemented in FrameTransformClient.

◆ deleteTransform()

virtual bool yarp::dev::IFrameTransform::deleteTransform	(	const std::string &	target_frame_id,
		const std::string &	source_frame_id
	)

pure virtual

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

Implemented in FrameTransformClient.

◆ frameExists()

virtual bool yarp::dev::IFrameTransform::frameExists ( const std::string & frame_id )

pure virtual

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

Implemented in FrameTransformClient.

◆ getAllFrameIds()

virtual bool yarp::dev::IFrameTransform::getAllFrameIds ( std::vector< std::string > & ids )

pure virtual

Gets a vector containing all the registered frames.

Parameters

ids	the returned vector containing all frame ids

Returns: true/false

Implemented in FrameTransformClient.

◆ getParent()

virtual bool yarp::dev::IFrameTransform::getParent	(	const std::string &	frame_id,
		std::string &	parent_frame_id
	)

pure virtual

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

Implemented in FrameTransformClient.

◆ getTransform()

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

pure virtual

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

Implemented in FrameTransformClient.

◆ setTransform()

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

pure virtual

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

Implemented in FrameTransformClient.

◆ setTransformStatic()

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

pure virtual

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

Implemented in FrameTransformClient.

◆ transformPoint()

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

pure virtual

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

Implemented in FrameTransformClient.

◆ transformPose()

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

pure virtual

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

Implemented in FrameTransformClient.

◆ transformQuaternion()

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

pure virtual

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

Implemented in FrameTransformClient.

◆ waitForTransform()

virtual bool yarp::dev::IFrameTransform::waitForTransform	(	const std::string &	target_frame_id,
		const std::string &	source_frame_id,
		const double &	timeout
	)

pure virtual

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

Implemented in FrameTransformClient.

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

src/libYARP_dev/src/yarp/dev/IFrameTransform.h
src/libYARP_dev/src/yarp/dev/IFrameTransform.cpp

Public Types

Public Member Functions

Detailed Description

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ ~IFrameTransform()

Member Function Documentation

◆ allFramesAsString()

◆ canTransform()

◆ clear()

◆ deleteTransform()

◆ frameExists()

◆ getAllFrameIds()

◆ getParent()

◆ getTransform()

◆ setTransform()

◆ setTransformStatic()

◆ transformPoint()

◆ transformPose()

◆ transformQuaternion()

◆ waitForTransform()