frameTransformSet_nwc_yarp: A network wrapper client which publishes the transforms received on the thrift interface FrameTransformStorageSetRPC to yarp::dev::IFrameTransformStorageSet interface. More...

#include <frameTransformSet/FrameTransformSet_nwc_yarp.h>

Inheritance diagram for FrameTransformSet_nwc_yarp:

Public Member Functions
	FrameTransformSet_nwc_yarp ()=default

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

bool	close () override
	Close the DeviceDriver.

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.

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::IFrameTransformStorageSet
virtual	~IFrameTransformStorageSet ()

Detailed Description

frameTransformSet_nwc_yarp: A network wrapper client which publishes the transforms received on the thrift interface FrameTransformStorageSetRPC to yarp::dev::IFrameTransformStorageSet interface.

Parameters

This device is paired with its server called FrameTransformSet_nws_yarp.

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/frameTransformSet_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

Port names examples

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

With
- default-client = true
- nwc_thrift_port_prefix = ""
  The frameTransformSet_nwc_yarp thrift port name will be: /frameTransformClient/frameTransformSet_nwc_yarp/thrift
With
- default-client = true
- nwc_thrift_port_prefix = "/cer"
  The frameTransformSet_nwc_yarp thrift port name will be: /cer/frameTransformClient/frameTransformSet_nwc_yarp/thrift
With
- default-client = false
- nwc_thrift_port_prefix = "/cer"
  The frameTransformSet_nwc_yarp thrift port name will be: /cer/frameTransformSet_nwc_yarp/thrift
With
- default-server = true
- nws_thrift_port_prefix = ""
  The name of the thrift port the frameTransformSet_nwc_yarp thrift port will connect to will be: /frameTransformServer/frameTransformSet_nws_yarp/thrift
With
- default-server = true
- nws_thrift_port_prefix = "/cer"
  The name of the thrift port the frameTransformSet_nwc_yarp thrift port will connect to will be: /cer/frameTransformServer/frameTransformSet_nws_yarp/thrift
With
- default-server = false
- nws_thrift_port_prefix = "/cer"
  The name of the thrift port the frameTransformSet_nwc_yarp thrift port will connect to will be: /cer/thrift

Example of configuration file using .ini format.

device frameTransformSet_nwc_yarp
nwc_thrift_port_prefix /local
nws_thrift_port_prefix /cer

Definition at line 70 of file FrameTransformSet_nwc_yarp.h.

Constructor & Destructor Documentation

◆ FrameTransformSet_nwc_yarp()

FrameTransformSet_nwc_yarp::FrameTransformSet_nwc_yarp ( )

default

Member Function Documentation

◆ clearAll()

bool FrameTransformSet_nwc_yarp::clearAll ( )

overridevirtual

Delete all transforms in a storage.

Returns: true/false

Implements yarp::dev::IFrameTransformStorageSet.

Definition at line 127 of file FrameTransformSet_nwc_yarp.cpp.

◆ close()

bool FrameTransformSet_nwc_yarp::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 85 of file FrameTransformSet_nwc_yarp.cpp.

◆ deleteTransform()

bool FrameTransformSet_nwc_yarp::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 116 of file FrameTransformSet_nwc_yarp.cpp.

◆ open()

bool FrameTransformSet_nwc_yarp::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).