IFrameTransform.h

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_DEV_IFRAMETRANSFORM_H
#define YARP_DEV_IFRAMETRANSFORM_H
 
#include <string>
#include <vector>
 
#include <yarp/dev/api.h>
#include <yarp/os/Vocab.h>
#include <yarp/sig/Matrix.h>
#include <yarp/sig/Vector.h>
#include <yarp/math/Quaternion.h>
#include <yarp/dev/ReturnValue.h>
 
namespace yarp::dev {
class IFrameTransform;
}
 
class YARP_dev_API yarp::dev::IFrameTransform
{
public:
    enum
    {
        TRANSFORM_OK            = 0,
        TRANSFORM_GENERAL_ERROR = 1,
        TRANSFORM_TIMEOUT       = 2,
    };
    virtual ~IFrameTransform();
 
    virtual yarp::dev::ReturnValue allFramesAsString(std::string &all_frames) = 0;
 
    virtual yarp::dev::ReturnValue     canTransform (const std::string &target_frame, const std::string &source_frame, bool& canTransform)  = 0;
 
    virtual yarp::dev::ReturnValue     clear () = 0;
 
    virtual yarp::dev::ReturnValue     frameExists (const std::string &frame_id, bool& exists) = 0;
 
    virtual yarp::dev::ReturnValue    getAllFrameIds (std::vector< std::string > &ids) = 0;
 
    virtual yarp::dev::ReturnValue     getParent (const std::string &frame_id, std::string &parent_frame_id) = 0;
 
    virtual yarp::dev::ReturnValue     getTransform (const std::string &target_frame_id, const std::string &source_frame_id, yarp::sig::Matrix &transform) = 0;
 
    virtual yarp::dev::ReturnValue     setTransform (const std::string &target_frame_id, const std::string &source_frame_id, const yarp::sig::Matrix &transform) = 0;
 
    virtual yarp::dev::ReturnValue     setTransformStatic(const std::string &target_frame_id, const std::string &source_frame_id, const yarp::sig::Matrix &transform) = 0;
 
    virtual yarp::dev::ReturnValue     deleteTransform (const std::string &target_frame_id, const std::string &source_frame_id) = 0;
 
    virtual 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) = 0;
 
    virtual 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) = 0;
 
    virtual 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) = 0;
 
    virtual yarp::dev::ReturnValue     waitForTransform(const std::string &target_frame_id, const std::string &source_frame_id, const double &timeout) = 0;
};
 
constexpr yarp::conf::vocab32_t VOCAB_ITRANSFORM              = yarp::os::createVocab32('i','t','r','f');
constexpr yarp::conf::vocab32_t VOCAB_TRANSFORM_SET           = yarp::os::createVocab32('t','f','s','t');
constexpr yarp::conf::vocab32_t VOCAB_TRANSFORM_DELETE        = yarp::os::createVocab32('t','f','d','l');
constexpr yarp::conf::vocab32_t VOCAB_TRANSFORM_DELETE_ALL    = yarp::os::createVocab32('t','f','d','a');
 
#endif // YARP_DEV_IFRAMETRANSFORM_H