Read transforms from MongoDB and answer queries. More...

#include "mongodb_tf_transformer.h"

Inheritance diagram for fawkes::tf::MongoDBTransformer:

Public Member Functions
	MongoDBTransformer (mongocxx::client *mongodb_client, const std::string &database_name, bool ensure_index=true)
	Constructor. More...

virtual	~MongoDBTransformer ()
	Destructor. More...

void	restore (fawkes::Time &start, fawkes::Time &end)
	Restore transforms from database. More...

void	restore (fawkes::Time &start, fawkes::Time &end, fawkes::Time &new_start)
	Restore transforms from database. More...

void	restore (long start_msec, long end_msec, long new_start_msec=0)
	Restore transforms from database. More...

Public Member Functions inherited from fawkes::tf::Transformer
	Transformer (float cache_time_sec=BufferCore::DEFAULT_CACHE_TIME)
	Constructor. More...

virtual	~Transformer (void)
	Destructor. More...

void	set_enabled (bool enabled)
	Set enabled status of transformer. More...

bool	is_enabled () const
	Check if transformer is enabled. More...

float	get_cache_time () const
	Get cache time. More...

void	lock ()
	Lock transformer. More...

bool	try_lock ()
	Try to acquire lock. More...

void	unlock ()
	Unlock. More...

bool	frame_exists (const std::string &frame_id_str) const
	Check if frame exists. More...

TimeCacheInterfacePtr	get_frame_cache (const std::string &frame_id) const
	Get cache for specific frame. More...

std::vector< TimeCacheInterfacePtr >	get_frame_caches () const
	Get all currently existing caches. More...

std::vector< std::string >	get_frame_id_mappings () const
	Get mappings from frame ID to names. More...

void	lookup_transform (const std::string &target_frame, const std::string &source_frame, const fawkes::Time &time, StampedTransform &transform) const
	Lookup transform. More...

void	lookup_transform (const std::string &target_frame, const fawkes::Time &target_time, const std::string &source_frame, const fawkes::Time &source_time, const std::string &fixed_frame, StampedTransform &transform) const
	Lookup transform assuming a fixed frame. More...

void	lookup_transform (const std::string &target_frame, const std::string &source_frame, StampedTransform &transform) const
	Lookup transform at latest common time. More...

bool	can_transform (const std::string &target_frame, const std::string &source_frame, const fawkes::Time &time, std::string *error_msg=NULL) const
	Test if a transform is possible. More...

bool	can_transform (const std::string &target_frame, const fawkes::Time &target_time, const std::string &source_frame, const fawkes::Time &source_time, const std::string &fixed_frame, std::string *error_msg=NULL) const
	Test if a transform is possible. More...

void	transform_quaternion (const std::string &target_frame, const Stamped< Quaternion > &stamped_in, Stamped< Quaternion > &stamped_out) const
	Transform a stamped Quaternion into the target frame. More...

void	transform_vector (const std::string &target_frame, const Stamped< Vector3 > &stamped_in, Stamped< Vector3 > &stamped_out) const
	Transform a stamped vector into the target frame. More...

void	transform_point (const std::string &target_frame, const Stamped< Point > &stamped_in, Stamped< Point > &stamped_out) const
	Transform a stamped point into the target frame. More...

void	transform_pose (const std::string &target_frame, const Stamped< Pose > &stamped_in, Stamped< Pose > &stamped_out) const
	Transform a stamped pose into the target frame. More...

bool	transform_origin (const std::string &source_frame, const std::string &target_frame, Stamped< Pose > &stamped_out, const fawkes::Time time=fawkes::Time(0, 0)) const
	Transform ident pose from one frame to another. More...

void	transform_quaternion (const std::string &target_frame, const fawkes::Time &target_time, const Stamped< Quaternion > &stamped_in, const std::string &fixed_frame, Stamped< Quaternion > &stamped_out) const
	Transform a stamped Quaternion into the target frame assuming a fixed frame. More...

void	transform_vector (const std::string &target_frame, const fawkes::Time &target_time, const Stamped< Vector3 > &stamped_in, const std::string &fixed_frame, Stamped< Vector3 > &stamped_out) const
	Transform a stamped vector into the target frame assuming a fixed frame. More...

void	transform_point (const std::string &target_frame, const fawkes::Time &target_time, const Stamped< Point > &stamped_in, const std::string &fixed_frame, Stamped< Point > &stamped_out) const
	Transform a stamped point into the target frame assuming a fixed frame. More...

void	transform_pose (const std::string &target_frame, const fawkes::Time &target_time, const Stamped< Pose > &stamped_in, const std::string &fixed_frame, Stamped< Pose > &stamped_out) const
	Transform a stamped pose into the target frame assuming a fixed frame. More...

std::string	all_frames_as_dot (bool print_time, fawkes::Time *time=0) const
	Get DOT graph of all frames. More...

Public Member Functions inherited from fawkes::tf::BufferCore
	BufferCore (float cache_time=DEFAULT_CACHE_TIME)
	Constructor. More...

void	clear ()
	Clear all data. More...

bool	set_transform (const StampedTransform &transform, const std::string &authority, bool is_static=false)
	Add transform information to the tf data structure. More...

void	lookup_transform (const std::string &target_frame, const std::string &source_frame, const fawkes::Time &time, StampedTransform &transform) const
	Lookup transform. More...

void	lookup_transform (const std::string &target_frame, const fawkes::Time &target_time, const std::string &source_frame, const fawkes::Time &source_time, const std::string &fixed_frame, StampedTransform &transform) const
	Lookup transform assuming a fixed frame. More...

bool	can_transform (const std::string &target_frame, const std::string &source_frame, const fawkes::Time &time, std::string *error_msg=NULL) const
	Test if a transform is possible. More...

bool	can_transform (const std::string &target_frame, const fawkes::Time &target_time, const std::string &source_frame, const fawkes::Time &source_time, const std::string &fixed_frame, std::string *error_msg=NULL) const
	Test if a transform is possible. More...

std::string	all_frames_as_YAML (double current_time) const
	A way to see what frames have been cached in yaml format Useful for debugging tools. More...

std::string	all_frames_as_YAML () const
	Get latest frames as YAML. More...

std::string	all_frames_as_string () const
	A way to see what frames have been cached. More...

float	get_cache_length ()
	Get the duration over which this transformer will cache. More...

Additional Inherited Members
Static Public Attributes inherited from fawkes::tf::BufferCore
static const int	DEFAULT_CACHE_TIME = 10
	The default amount of time to cache data in seconds. More...

static const uint32_t	MAX_GRAPH_DEPTH = 1000UL
	Maximum number of times to recurse before assuming the tree has a loop. More...

Protected Types inherited from fawkes::tf::BufferCore
typedef std::vector< TimeCacheInterfacePtr >	V_TimeCacheInterface
	Vector data type for frame caches. More...

typedef std::unordered_map< std::string, CompactFrameID >	M_StringToCompactFrameID
	A map from string frame ids to CompactFrameID. More...

Protected Member Functions inherited from fawkes::tf::BufferCore
std::string	all_frames_as_string_no_lock () const
	A way to see what frames have been cached. More...

TimeCacheInterfacePtr	get_frame (CompactFrameID c_frame_id) const
	Accessor to get frame cache. More...

TimeCacheInterfacePtr	allocate_frame (CompactFrameID cfid, bool is_static)
	Allocate a new frame cache. More...

bool	warn_frame_id (const char *function_name_arg, const std::string &frame_id) const
	Warn if an illegal frame_id was passed. More...

CompactFrameID	validate_frame_id (const char *function_name_arg, const std::string &frame_id) const
	Check if frame ID is valid and return compact ID. More...

CompactFrameID	lookup_frame_number (const std::string &frameid_str) const
	String to number for frame lookup with dynamic allocation of new frames. More...

CompactFrameID	lookup_or_insert_frame_number (const std::string &frameid_str)
	String to number for frame lookup with dynamic allocation of new frames. More...

const std::string &	lookup_frame_string (CompactFrameID frame_id_num) const
	Number to string frame lookup may throw LookupException if number invalid. More...

void	create_connectivity_error_string (CompactFrameID source_frame, CompactFrameID target_frame, std::string *out) const
	Create error string. More...

int	get_latest_common_time (CompactFrameID target_frame, CompactFrameID source_frame, fawkes::Time &time, std::string *error_string) const
	Get latest common time of two frames. More...

template<typename F >
int	walk_to_top_parent (F &f, fawkes::Time time, CompactFrameID target_id, CompactFrameID source_id, std::string *error_string) const
	Traverse transform tree: walk from frame to top-parent of both. More...

template<typename F >
int	walk_to_top_parent (F &f, fawkes::Time time, CompactFrameID target_id, CompactFrameID source_id, std::string error_string, std::vector< CompactFrameID > frame_chain) const
	Traverse transform tree: walk from frame to top-parent of both. More...

bool	can_transform_internal (CompactFrameID target_id, CompactFrameID source_id, const fawkes::Time &time, std::string *error_msg) const
	Test if a transform is possible. More...

bool	can_transform_no_lock (CompactFrameID target_id, CompactFrameID source_id, const fawkes::Time &time, std::string *error_msg) const
	Test if a transform is possible. More...

Protected Attributes inherited from fawkes::tf::BufferCore
V_TimeCacheInterface	frames_
	The pointers to potential frames that the tree can be made of. More...

std::mutex	frame_mutex_
	A mutex to protect testing and allocating new frames on the above vector. More...

M_StringToCompactFrameID	frameIDs_
	Mapping from frame string IDs to compact IDs. More...

std::vector< std::string >	frameIDs_reverse
	A map from CompactFrameID frame_id_numbers to string for debugging and output. More...

std::map< CompactFrameID, std::string >	frame_authority_
	A map to lookup the most recent authority for a given frame. More...

float	cache_time_
	How long to cache transform history. More...

Detailed Description

Read transforms from MongoDB and answer queries.

Author: Tim Niemueller

Definition at line 35 of file mongodb_tf_transformer.h.

Constructor & Destructor Documentation

◆ MongoDBTransformer()

fawkes::tf::MongoDBTransformer::MongoDBTransformer	(	mongocxx::client *	mongodb_client,
		const std::string &	database_name,
		bool	ensure_index = `true`
	)

Constructor.

Parameters

mongodb_client	MongoDB database client
database_name	name of database to restore transforms from
ensure_index	if true ensures that the required index on timestamps exists

Definition at line 47 of file mongodb_tf_transformer.cpp.

◆ ~MongoDBTransformer()

fawkes::tf::MongoDBTransformer::~MongoDBTransformer ( )

virtual

Destructor.

Definition at line 62 of file mongodb_tf_transformer.cpp.

Member Function Documentation

◆ restore() [1/3]

void fawkes::tf::MongoDBTransformer::restore	(	fawkes::Time &	start,
		fawkes::Time &	end
	)

inline

Restore transforms from database.

Parameters

start	start time of range to restore
end	end time of range to restore

Definition at line 48 of file mongodb_tf_transformer.h.

Referenced by PointCloudDBMergePipeline< PointType >::merge(), restore(), and PointCloudDBRetrievePipeline< PointType >::retrieve().

◆ restore() [2/3]

void fawkes::tf::MongoDBTransformer::restore	(	fawkes::Time &	start,
		fawkes::Time &	end,
		fawkes::Time &	new_start
	)

Restore transforms from database.

Parameters

start	start time of range to restore
end	end time of range to restore
new_start	the new start time to which the transform times will be reset, i.e. from the transforms time stamp the `start` time is subtracted and `new_start` is added.

Definition at line 74 of file mongodb_tf_transformer.cpp.

References fawkes::Time::in_msec(), and restore().

◆ restore() [3/3]

void fawkes::tf::MongoDBTransformer::restore	(	long	start_msec,
		long	end_msec,
		long	new_start_msec = `0`
	)

Restore transforms from database.

Parameters

start_msec	start time of range to restore since the epoch in msec
end_msec	end time of range to restore since the epoch in msec
new_start_msec	the new start time since the epoch in msec to which the transform times will be reset, i.e. from the transforms time stamp the `start` time is subtracted and `new_start` is added.

Definition at line 115 of file mongodb_tf_transformer.cpp.

References fawkes::tf::BufferCore::cache_time_.

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

src/plugins/perception/pcl-db/mongodb_tf_transformer.h
src/plugins/perception/pcl-db/mongodb_tf_transformer.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ MongoDBTransformer()

◆ ~MongoDBTransformer()

Member Function Documentation

◆ restore() [1/3]

◆ restore() [2/3]

◆ restore() [3/3]