frameTransformClient: A client to manage FrameTransforms for a robot (For more information, go to FrameTransform: start all the required devices needed for transforming frames) More...

#include <frameTransformClient/FrameTransformClient.h>

Inheritance diagram for FrameTransformClient:

Classes
struct	broadcast_port_t

Public Member Functions
	FrameTransformClient ()

	~FrameTransformClient ()

bool	open (yarp::os::Searchable &config) override
	Open the DeviceDriver.

bool	close () override
	Close the DeviceDriver.

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

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

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

yarp::dev::ReturnValue	clear () override
	Removes all the registered transforms.

yarp::dev::ReturnValue	frameExists (const std::string &frame_id, bool &exists) override
	Check if a frame exists.

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

yarp::dev::ReturnValue	getParent (const std::string &frame_id, std::string &parent_frame_id) override
	Get the parent of a frame.

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

yarp::dev::ReturnValue	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.

yarp::dev::ReturnValue	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.

yarp::dev::ReturnValue	deleteTransform (const std::string &target_frame_id, const std::string &source_frame_id) override
	Deletes a transform between two frames.

yarp::dev::ReturnValue	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.

yarp::dev::ReturnValue	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.

yarp::dev::ReturnValue	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.

yarp::dev::ReturnValue	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.

bool	threadInit () override
	Initialization method.

void	threadRelease () override
	Release method.

void	run () override
	Loop function.

bool	priv_generate_view ()

std::string	priv_get_matrix_as_text (yarp::math::FrameTransform *t)

Public Member Functions inherited from yarp::dev::DeviceDriver
	DeviceDriver ()

	DeviceDriver (const DeviceDriver &other)=delete

	DeviceDriver (DeviceDriver &&other) noexcept=delete

DeviceDriver &	operator= (const DeviceDriver &other)=delete

DeviceDriver &	operator= (DeviceDriver &&other) noexcept=delete

virtual	~DeviceDriver ()

virtual std::string	id () const
	Return the id assigned to the PolyDriver.

virtual void	setId (const std::string &id)
	Set the id for this device.

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

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

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

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

virtual Type	getReadType () const

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

	PeriodicThread (double period, PeriodicThreadClock clockAccuracy)
	Constructor.

virtual	~PeriodicThread ()

bool	start ()
	Call this to start the thread.

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

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

void	askToStop ()
	Stop the thread.

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

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

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

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

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

void	resume ()
	Resume the thread if previously suspended.

void	resetStat ()
	Reset thread statistics.

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

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

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

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

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

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

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

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

Public Member Functions inherited from FrameTransformClient_ParamsParser
	FrameTransformClient_ParamsParser ()

	~FrameTransformClient_ParamsParser () override=default

bool	parseParams (const yarp::os::Searchable &config) override
	Parse the DeviceDriver parameters.

std::string	getDeviceClassName () const override
	Get the name of the DeviceDriver class.

std::string	getDeviceName () const override
	Get the name of the device (i.e.

std::string	getDocumentationOfDeviceParams () const override
	Get the documentation of the DeviceDriver's parameters.

std::vector< std::string >	getListOfParams () const override
	Return a list of all params used by the device.

Public Member Functions inherited from yarp::dev::IDeviceDriverParams
virtual	~IDeviceDriverParams ()

Protected Types
enum	show_transforms_in_diagram_t { do_not_show = 0 , show_quaternion = 1 , show_matrix = 2 , show_rpy = 3 }

Protected Attributes
yarp::os::Port	m_rpc_InterfaceToUser

std::string	m_local_name

std::mutex	m_rpc_mutex

std::vector< broadcast_port_t * >	m_array_of_ports

show_transforms_in_diagram_t	m_show_transforms_in_diagram = do_not_show

yarp::robotinterface::Robot	m_robot

yarp::dev::IFrameTransformStorageGet *	m_ift_get = nullptr

yarp::dev::IFrameTransformStorageSet *	m_ift_set = nullptr

yarp::dev::IFrameTransformStorageUtils *	m_ift_util = nullptr

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

Public Attributes inherited from FrameTransformClient_ParamsParser
const std::string	m_device_classname = {"FrameTransformClient"}

const std::string	m_device_name = {"frameTransformClient"}

bool	m_parser_is_strict = false

const parser_version_type	m_parser_version = {}

const std::string	m_testxml_from_defaultValue = {""}

const std::string	m_testxml_context_defaultValue = {""}

const std::string	m_filexml_option_defaultValue = {"ftc_local_only.xml"}

const std::string	m_local_rpc_defaultValue = {"/ftClient/rpc"}

const std::string	m_FrameTransform_verbose_debug_defaultValue = {"false"}

const std::string	m_period_defaultValue = {"0.10"}

std::string	m_testxml_from = {}

std::string	m_testxml_context = {}

std::string	m_filexml_option = {"ftc_local_only.xml"}

std::string	m_local_rpc = {"/ftClient/rpc"}

bool	m_FrameTransform_verbose_debug = {false}

double	m_period = {0.10}

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

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().

Detailed Description

frameTransformClient: A client to manage FrameTransforms for a robot (For more information, go to FrameTransform: start all the required devices needed for transforming frames)

Description of input parameters

Parameters required by this device are shown in class: FrameTransformClient_ParamsParser

Definition at line 50 of file FrameTransformClient.h.

Member Enumeration Documentation

◆ show_transforms_in_diagram_t

enum FrameTransformClient::show_transforms_in_diagram_t

protected

Enumerator
do_not_show
show_quaternion
show_matrix
show_rpy

Definition at line 82 of file FrameTransformClient.h.

Constructor & Destructor Documentation

◆ FrameTransformClient()

FrameTransformClient::FrameTransformClient ( )

Definition at line 950 of file FrameTransformClient.cpp.

◆ ~FrameTransformClient()

FrameTransformClient::~FrameTransformClient ( )

default

Member Function Documentation

◆ allFramesAsString()

yarp::dev::ReturnValue 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: a ReturnValue, convertible to true/false

Implements yarp::dev::IFrameTransform.

Definition at line 435 of file FrameTransformClient.cpp.

◆ canTransform()

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

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: canTransform true if the transformation exists, false otherwise; a ReturnValue, convertible to true/false

Implements yarp::dev::IFrameTransform.

Definition at line 517 of file FrameTransformClient.cpp.

◆ clear()

yarp::dev::ReturnValue FrameTransformClient::clear ( )

overridevirtual

Removes all the registered transforms.

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::IFrameTransform.

Definition at line 536 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 423 of file FrameTransformClient.cpp.

◆ deleteTransform()

yarp::dev::ReturnValue 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: a ReturnValue, convertible to true/false

Implements yarp::dev::IFrameTransform.

Definition at line 835 of file FrameTransformClient.cpp.

◆ frameExists()

yarp::dev::ReturnValue FrameTransformClient::frameExists	(	const std::string &	frame_id,
		bool &	exists
	)

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: exists true if the transformation exists, false otherwise; a ReturnValue, convertible to true/false

Implements yarp::dev::IFrameTransform.

Definition at line 551 of file FrameTransformClient.cpp.

◆ getAllFrameIds()

yarp::dev::ReturnValue 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: a ReturnValue, convertible to true/false

Implements yarp::dev::IFrameTransform.

Definition at line 577 of file FrameTransformClient.cpp.

◆ getParent()

yarp::dev::ReturnValue 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: a ReturnValue, convertible to true/false

Implements yarp::dev::IFrameTransform.

Definition at line 619 of file FrameTransformClient.cpp.

◆ getTransform()

yarp::dev::ReturnValue 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: a ReturnValue, convertible to true/false

Implements yarp::dev::IFrameTransform.

Definition at line 699 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 302 of file FrameTransformClient.cpp.

◆ priv_generate_view()

bool FrameTransformClient::priv_generate_view ( )

Definition at line 1030 of file FrameTransformClient.cpp.

◆ priv_get_matrix_as_text()

std::string FrameTransformClient::priv_get_matrix_as_text ( yarp::math::FrameTransform * t )

Definition at line 995 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 34 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 967 of file FrameTransformClient.cpp.

◆ setTransform()

yarp::dev::ReturnValue 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: a ReturnValue, convertible to true/false

Implements yarp::dev::IFrameTransform.

Definition at line 747 of file FrameTransformClient.cpp.

◆ setTransformStatic()

yarp::dev::ReturnValue 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: a ReturnValue, convertible to true/false

Implements yarp::dev::IFrameTransform.

Definition at line 794 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 956 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 962 of file FrameTransformClient.cpp.

◆ transformPoint()

yarp::dev::ReturnValue 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: a ReturnValue, convertible to true/false

Implements yarp::dev::IFrameTransform.

Definition at line 845 of file FrameTransformClient.cpp.

◆ transformPose()

yarp::dev::ReturnValue 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: a ReturnValue, convertible to true/false

Implements yarp::dev::IFrameTransform.

Definition at line 870 of file FrameTransformClient.cpp.

◆ transformQuaternion()

yarp::dev::ReturnValue 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: a ReturnValue, convertible to true/false

Implements yarp::dev::IFrameTransform.

Definition at line 909 of file FrameTransformClient.cpp.

◆ waitForTransform()

yarp::dev::ReturnValue 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: a ReturnValue, convertible to true/false

Implements yarp::dev::IFrameTransform.

Definition at line 928 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 79 of file FrameTransformClient.h.

◆ m_ift_get

yarp::dev::IFrameTransformStorageGet* FrameTransformClient::m_ift_get = nullptr

protected

Definition at line 93 of file FrameTransformClient.h.

◆ m_ift_set

yarp::dev::IFrameTransformStorageSet* FrameTransformClient::m_ift_set = nullptr

protected

Definition at line 94 of file FrameTransformClient.h.

◆ m_ift_util

yarp::dev::IFrameTransformStorageUtils* FrameTransformClient::m_ift_util = nullptr

protected

Definition at line 95 of file FrameTransformClient.h.

◆ m_local_name

std::string FrameTransformClient::m_local_name

protected

Definition at line 68 of file FrameTransformClient.h.

◆ m_robot

yarp::robotinterface::Robot FrameTransformClient::m_robot

protected

Definition at line 92 of file FrameTransformClient.h.

◆ m_rpc_InterfaceToUser

yarp::os::Port FrameTransformClient::m_rpc_InterfaceToUser

protected

Definition at line 67 of file FrameTransformClient.h.

◆ m_rpc_mutex

std::mutex FrameTransformClient::m_rpc_mutex

protected

Definition at line 69 of file FrameTransformClient.h.

◆ m_show_transforms_in_diagram

show_transforms_in_diagram_t FrameTransformClient::m_show_transforms_in_diagram = do_not_show

protected

Definition at line 89 of file FrameTransformClient.h.

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

src/devices/frameTransformClient/FrameTransformClient.h
src/devices/frameTransformClient/FrameTransformClient.cpp

Classes

Public Member Functions

Protected Types

Protected Attributes

Additional Inherited Members

Detailed Description

Description of input parameters

Member Enumeration Documentation

◆ show_transforms_in_diagram_t

Constructor & Destructor Documentation

◆ FrameTransformClient()

◆ ~FrameTransformClient()

Member Function Documentation

◆ allFramesAsString()

◆ canTransform()

◆ clear()

◆ close()

◆ deleteTransform()

◆ frameExists()

◆ getAllFrameIds()

◆ getParent()

◆ getTransform()

◆ open()

◆ priv_generate_view()

◆ priv_get_matrix_as_text()

◆ read()

◆ run()

◆ setTransform()

◆ setTransformStatic()

◆ threadInit()

◆ threadRelease()

◆ transformPoint()

◆ transformPose()

◆ transformQuaternion()

◆ waitForTransform()

Member Data Documentation

◆ m_array_of_ports

◆ m_ift_get

◆ m_ift_set

◆ m_ift_util

◆ m_local_name

◆ m_robot

◆ m_rpc_InterfaceToUser

◆ m_rpc_mutex

◆ m_show_transforms_in_diagram