YARP
Yet Another Robot Platform

frameTransformGet_nwc_yarp: A network wrapper client which converts the input retrieved from a FrameTransformStorageGetRPC thrift interface to an IFrameTransformStorageGet interface. More...

#include <frameTransformGet/FrameTransformGet_nwc_yarp.h>

+ Inheritance diagram for FrameTransformGet_nwc_yarp:

Public Member Functions

 FrameTransformGet_nwc_yarp ()=default
 
 FrameTransformGet_nwc_yarp (const FrameTransformGet_nwc_yarp &)=delete
 
 FrameTransformGet_nwc_yarp (FrameTransformGet_nwc_yarp &&)=delete
 
FrameTransformGet_nwc_yarpoperator= (const FrameTransformGet_nwc_yarp &)=delete
 
FrameTransformGet_nwc_yarpoperator= (FrameTransformGet_nwc_yarp &&)=delete
 
 ~FrameTransformGet_nwc_yarp () override=default
 
bool open (yarp::os::Searchable &params) override
 Open the DeviceDriver. More...
 
bool close () override
 Close the DeviceDriver. More...
 
bool getTransforms (std::vector< yarp::math::FrameTransform > &transforms) const override
 Obtains all frame transforms saved in a storage. More...
 
- Public Member Functions inherited from yarp::dev::DeviceDriver
 DeviceDriver ()
 
 DeviceDriver (const DeviceDriver &other)=delete
 
 DeviceDriver (DeviceDriver &&other) noexcept=delete
 
DeviceDriveroperator= (const DeviceDriver &other)=delete
 
DeviceDriveroperator= (DeviceDriver &&other) noexcept=delete
 
 ~DeviceDriver () override
 
virtual std::string id () const
 Return the id assigned to the PolyDriver. More...
 
virtual void setId (const std::string &id)
 Set the id for this device. More...
 
template<class T >
bool view (T *&x)
 Get an interface to the device driver. More...
 
virtual DeviceDrivergetImplementation ()
 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::IFrameTransformStorageGet
virtual ~IFrameTransformStorageGet ()
 

Detailed Description

frameTransformGet_nwc_yarp: A network wrapper client which converts the input retrieved from a FrameTransformStorageGetRPC thrift interface to an IFrameTransformStorageGet interface.

Parameters

This device is paired with its server called FrameTransformGet_nws_yarp. It is attached to a device with an IFrameTransformStorageGet interface. When it a method of the interface is called, the request is forwarded on a RPC port (which uses the thrift FrameTransformStorageGetRPC interface) and it returns all the transforms received from the port to the caller. For further information see FrameTransform: start all the required devices needed for transforming frames.

Parameters required by this device are:

Parameter name SubParameter Type Units Default Value Required Description
default-client - bool - true No tells whether or not the nwc is instantiated by the frameTransformClient device. If true, "/frameTransformClient" will appended to the port name prefix
default-server - bool - true No tells whether or not the nws is instantiated by the frameTransformServer device. If true, "/frameTransformServer/frameTransformGet_nws_yarp" will appended to the port name prefix
nwc_thrift_port_prefix - string - "" No a prefix for the nwc thrift rpc port name
nws_thrift_port_prefix - string - "" No a prefix for the nws thrift rpc port name
input_streaming_port_prefix - string - - No a prefix for the input streaming port name (if the port is enabled)
output_streaming_port_prefix - string - - No a prefix for the output streaming port name (if the port is enabled)
streaming_enabled - bool - false No if enabled, tfs are received from the streaming port instead of using RPCs

Port names examples

Here follow some examples of port names obtained with different parameters configurations

  1. With
    • default-client = true
    • nwc_thrift_port_prefix = ""
      The frameTransformGet_nwc_yarp thrift port name will be: /frameTransformClient/frameTransformGet_nwc_yarp/thrift
  2. With
    • default-client = true
    • nwc_thrift_port_prefix = "/cer"
      The frameTransformGet_nwc_yarp thrift port name will be: /cer/frameTransformClient/frameTransformGet_nwc_yarp/thrift
  3. With
    • default-client = false
    • nwc_thrift_port_prefix = "/cer"
      The frameTransformGet_nwc_yarp thrift port name will be: /cer/frameTransformGet_nwc_yarp/thrift
  4. With
    • default-server = true
    • nws_thrift_port_prefix = ""
      The name of the thrift port the frameTransformGet_nwc_yarp thrift port will connect to will be: /frameTransformServer/frameTransformGet_nws_yarp/thrift
  5. With
    • default-server = true
    • nws_thrift_port_prefix = "/cer"
      The name of the thrift port the frameTransformGet_nwc_yarp thrift port will connect to will be: /cer/frameTransformServer/frameTransformGet_nws_yarp/thrift
  6. With
    • default-server = false
    • nws_thrift_port_prefix = "/cer"
      The name of the thrift port the frameTransformGet_nwc_yarp thrift port will connect to will be: /cer/thrift
  7. With
    • default-client = true
    • input_streaming_port_prefix = ""
      The name of the frameTransformGet_nwc_yarp input port for the tf stream will be: /frameTransformClient/frameTransformGet_nwc_yarp/tf:i
  8. With
    • default-client = true
    • input_streaming_port_prefix = "/cer"
      The name of the frameTransformGet_nwc_yarp input port for the tf stream will be: /cer/frameTransformClient/frameTransformGet_nwc_yarp/tf:i
  9. With
    • default-client = false
    • input_streaming_port_prefix = "/cer"
      The name of the frameTransformGet_nwc_yarp input port for the tf stream will be: /cer/frameTransformGet_nwc_yarp/tf:i
  10. With
    • default-server = true
    • output_streaming_port_prefix = ""
      The name of the output port for the tf stream the nwc will connect to will be: /frameTransformServer/frameTransformGet_nws_yarp/tf:o
  11. With
    • default-server = true
    • output_streaming_port_prefix = "/cer"
      The name of the output port for the tf stream the nwc will connect to will be: /cer/frameTransformServer/frameTransformGet_nws_yarp/tf:o
  12. With
    • default-server = false
    • output_streaming_port_prefix = "/cer"
      The name of the output port for the tf stream the nwc will connect to will be: /cer/tf:o

Example of configuration file using .ini format.

device frameTransformGet_nwc_yarp
nwc_thrift_port_prefix /local
nws_thrift_port_prefix /cer

Definition at line 99 of file FrameTransformGet_nwc_yarp.h.

Constructor & Destructor Documentation

◆ FrameTransformGet_nwc_yarp() [1/3]

FrameTransformGet_nwc_yarp::FrameTransformGet_nwc_yarp ( )
default

◆ FrameTransformGet_nwc_yarp() [2/3]

FrameTransformGet_nwc_yarp::FrameTransformGet_nwc_yarp ( const FrameTransformGet_nwc_yarp )
delete

◆ FrameTransformGet_nwc_yarp() [3/3]

FrameTransformGet_nwc_yarp::FrameTransformGet_nwc_yarp ( FrameTransformGet_nwc_yarp &&  )
delete

◆ ~FrameTransformGet_nwc_yarp()

FrameTransformGet_nwc_yarp::~FrameTransformGet_nwc_yarp ( )
overridedefault

Member Function Documentation

◆ close()

bool FrameTransformGet_nwc_yarp::close ( )
overridevirtual

Close the DeviceDriver.

Returns
true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 127 of file FrameTransformGet_nwc_yarp.cpp.

◆ getTransforms()

bool FrameTransformGet_nwc_yarp::getTransforms ( std::vector< yarp::math::FrameTransform > &  transforms) const
overridevirtual

Obtains all frame transforms saved in a storage.

Parameters
transformsthe returned list of frame transforms
Returns
true/false

Implements yarp::dev::IFrameTransformStorageGet.

Definition at line 139 of file FrameTransformGet_nwc_yarp.cpp.

◆ open()

bool FrameTransformGet_nwc_yarp::open ( yarp::os::Searchable config)
overridevirtual

Open the DeviceDriver.

Parameters
configis 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 14 of file FrameTransformGet_nwc_yarp.cpp.

◆ operator=() [1/2]

FrameTransformGet_nwc_yarp& FrameTransformGet_nwc_yarp::operator= ( const FrameTransformGet_nwc_yarp )
delete

◆ operator=() [2/2]

FrameTransformGet_nwc_yarp& FrameTransformGet_nwc_yarp::operator= ( FrameTransformGet_nwc_yarp &&  )
delete

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