frameTransformSet_nwc_ros: A network wrapper client which publishes the transforms received on the yarp::dev::IFrameTransformStorageSet interface to a ROS topic. More...

#include </home/runner/work/yarp-documentation/yarp-documentation/yarp/opt-modules/yarp-devices-ros/src/devices/frameTransformSet_nwc_ros/FrameTransformSet_nwc_ros.h>

Inheritance diagram for FrameTransformSet_nwc_ros:

Public Member Functions
	FrameTransformSet_nwc_ros (double tperiod=0.010)

	~FrameTransformSet_nwc_ros ()=default

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

bool	close () override
	Close the DeviceDriver.

void	run () override
	Loop function.

bool	setTransforms (const std::vector< yarp::math::FrameTransform > &transforms) override
	Save some frame transforms in a storage.

bool	setTransform (const yarp::math::FrameTransform &transform) override
	Save a frame transform in a storage.

bool	deleteTransform (std::string t1, std::string t2) override
	Delete a single transform in the storage.

bool	clearAll () override
	Delete all transforms in a storage.

void	publishFrameTransforms (const std::vector< yarp::math::FrameTransform > &transforms)

void	yarpTransformToROSTransform (const yarp::math::FrameTransform &input, yarp::rosmsg::geometry_msgs::TransformStamped &output)

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::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 yarp::dev::IFrameTransformStorageSet
virtual	~IFrameTransformStorageSet ()

Additional Inherited Members
Protected Member Functions inherited from yarp::os::PeriodicThread
virtual bool	threadInit ()
	Initialization method.

virtual void	threadRelease ()
	Release method.

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

frameTransformSet_nwc_ros: A network wrapper client which publishes the transforms received on the yarp::dev::IFrameTransformStorageSet interface to a ROS topic.

Parameters

Parameters required by this device are:

Parameter name	SubParameter	Type	Units	Default Valu	Required	Description
GENERAL	-	group	-	-	No
-	period	double	seconds	0.01	No	The PeriodicThread period in seconds
-	refresh_interval	double	seconds	0.1	No	The time interval outside which timed fts will be deleted
-	asynch_pub	int	-	1	No	If 1, the fts will be published not only every "period" seconds but also when set functions are called
ROS	-	group	-	-	No
-	ft_topic	string	-	/tf	No	The name of the ROS topic on which fts will be published
-	ft_topic_static	string	-	/tf_static	No	The name of the ROS topic on which static fts will be published
-	ft_node	string	-	/tfNodeSet	No	The of the ROS node

N.B. pay attention to the difference between tf and ft

Example of configuration file using .ini format.

device frameTransformSet_nwc_yarp
[GENERAL]
period 0.05
refresh_interval 0.2
[ROS]
ft_topic /tf
ft_topic_static /tf_static
ft_node /tfNodeSet

Definition at line 70 of file FrameTransformSet_nwc_ros.h.

Constructor & Destructor Documentation

◆ FrameTransformSet_nwc_ros()

FrameTransformSet_nwc_ros::FrameTransformSet_nwc_ros ( double tperiod = 0.010 )

Definition at line 22 of file FrameTransformSet_nwc_ros.cpp.

◆ ~FrameTransformSet_nwc_ros()

FrameTransformSet_nwc_ros::~FrameTransformSet_nwc_ros ( )

default

Member Function Documentation

◆ clearAll()

bool FrameTransformSet_nwc_ros::clearAll ( )

overridevirtual

Delete all transforms in a storage.

Returns: true/false

Implements yarp::dev::IFrameTransformStorageSet.

Definition at line 229 of file FrameTransformSet_nwc_ros.cpp.

◆ close()

bool FrameTransformSet_nwc_ros::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 92 of file FrameTransformSet_nwc_ros.cpp.

◆ deleteTransform()

bool FrameTransformSet_nwc_ros::deleteTransform	(	std::string	src,
		std::string	dst
	)

overridevirtual

Delete a single transform in the storage.

Parameters

src	the source of frame transform to delete
dst	the destination of frame transform to delete

Returns: true/false

Implements yarp::dev::IFrameTransformStorageSet.

Definition at line 222 of file FrameTransformSet_nwc_ros.cpp.

◆ open()

bool FrameTransformSet_nwc_ros::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 28 of file FrameTransformSet_nwc_ros.cpp.

◆ publishFrameTransforms()

void FrameTransformSet_nwc_ros::publishFrameTransforms ( const std::vector< yarp::math::FrameTransform > & transforms )

Definition at line 190 of file FrameTransformSet_nwc_ros.cpp.

◆ run()

void FrameTransformSet_nwc_ros::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 105 of file FrameTransformSet_nwc_ros.cpp.

◆ setTransform()

bool FrameTransformSet_nwc_ros::setTransform ( const yarp::math::FrameTransform & transform )

overridevirtual

Save a frame transform in a storage.

Parameters

transforms the transform to be stored

Returns: true/false

Implements yarp::dev::IFrameTransformStorageSet.

Definition at line 149 of file FrameTransformSet_nwc_ros.cpp.

◆ setTransforms()

bool FrameTransformSet_nwc_ros::setTransforms ( const std::vector< yarp::math::FrameTransform > & transforms )

overridevirtual

Save some frame transforms in a storage.

Parameters

transforms the list of transforms to be stored

Returns: true/false

Implements yarp::dev::IFrameTransformStorageSet.

Definition at line 122 of file FrameTransformSet_nwc_ros.cpp.

◆ yarpTransformToROSTransform()

void FrameTransformSet_nwc_ros::yarpTransformToROSTransform	(	const yarp::math::FrameTransform &	input,
		yarp::rosmsg::geometry_msgs::TransformStamped &	output
	)

Definition at line 176 of file FrameTransformSet_nwc_ros.cpp.

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

opt-modules/yarp-devices-ros/src/devices/frameTransformSet_nwc_ros/FrameTransformSet_nwc_ros.h
opt-modules/yarp-devices-ros/src/devices/frameTransformSet_nwc_ros/FrameTransformSet_nwc_ros.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Parameters

Example of configuration file using .ini format.

Constructor & Destructor Documentation

◆ FrameTransformSet_nwc_ros()

◆ ~FrameTransformSet_nwc_ros()

Member Function Documentation

◆ clearAll()

◆ close()

◆ deleteTransform()

◆ open()

◆ publishFrameTransforms()

◆ run()

◆ setTransform()

◆ setTransforms()

◆ yarpTransformToROSTransform()