YARP
Yet Another Robot Platform
FrameTransformServer.h
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1/*
2 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
3 * SPDX-License-Identifier: LGPL-2.1-or-later
4 */
5
6#ifndef YARP_DEV_FRAMETRANSFORMSERVER_H
7#define YARP_DEV_FRAMETRANSFORMSERVER_H
8
9
11#include <yarp/os/Network.h>
13#include <yarp/os/Semaphore.h>
14#include <yarp/os/Time.h>
15
16#include <yarp/sig/Vector.h>
17
23#include <yarp/dev/PolyDriver.h>
24
27#include <mutex>
30
31#include <mutex>
32
33#define DEFAULT_THREAD_PERIOD 20 //ms
34const int MAX_PORTS = 5;
35
66{
67protected:
68
70 std::string m_local_name;
71 double m_period;
72 std::mutex m_rpc_mutex;
73
74 //new stuff
76
77public:
80
81public:
82 // DeviceDriver methods
83 bool open(yarp::os::Searchable& config) override;
84 bool close() override;
85 bool read(yarp::os::ConnectionReader& connection) override;
86
87 //PeriodicThread
88 bool threadInit() override;
89 void threadRelease() override;
90 void run() override;
91};
92
93#endif // YARP_DEV_FRAMETRANSFORMSERVER_H
define control board standard interfaces
const int MAX_PORTS
contains the definition of a Vector type
A server to manage FrameTransforms for a robot (see FrameTransform: start all the required devices ne...
bool close() override
Close the DeviceDriver.
bool open(yarp::os::Searchable &config) override
Open the DeviceDriver.
void threadRelease() override
Release method.
bool read(yarp::os::ConnectionReader &connection) override
Read this object from a network connection.
yarp::os::Port m_rpc_InterfaceToUser
yarp::robotinterface::Robot m_robot
bool threadInit() override
Initialization method.
void run() override
Loop function.
Interface implemented by all device drivers.
Definition: DeviceDriver.h:30
An interface for reading from a network connection.
An abstraction for a periodic thread.
Interface implemented by all objects that can read themselves from the network, such as Bottle object...
Definition: PortReader.h:24
A mini-server for network communication.
Definition: Port.h:46
A base class for nested structures that can be searched.
Definition: Searchable.h:56