fawkes::tf::TransformListener Class Reference

Receive transforms and answer queries. More...

#include <>>

Inheritance diagram for fawkes::tf::TransformListener:

List of all members.

Public Member Functions
	TransformListener (BlackBoard *bb)
	Constructor.
virtual	~TransformListener ()
	Destructor.
std::string	resolve (const std::string &frame_name)
	Resolve transform name.
virtual void	bb_interface_created (const char *type, const char *id) throw ()
	BlackBoard interface created notification.
virtual void	bb_interface_data_changed (Interface *interface) throw ()
	BlackBoard data changed notification.
virtual void	bb_interface_writer_removed (Interface *interface, unsigned int instance_serial) throw ()
	A writing instance has been closed for a watched interface.
virtual void	bb_interface_reader_removed (Interface *interface, unsigned int instance_serial) throw ()
	A reading instance has been closed for a watched interface.

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Detailed Description

Receive transforms and answer queries.

This class connects to the blackboard and listens to all interfaces publishing transforms. It opens all interfaces of type TransformInterface with a TF prefix. The data is internally cached. Queries are then resolved based on the received information.

Author:

Tim Niemueller

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Constructor & Destructor Documentation

fawkes::tf::TransformListener::TransformListener

(

BlackBoard *

bb

)

Constructor.

Parameters:

bb	blackboard to listen to

Definition at line 80 of file transform_listener.cpp.

References fawkes::BlackBoard::open_multiple_for_reading(), fawkes::BlackBoardInterfaceListener::bbil_add_data_interface(), fawkes::BlackBoard::register_listener(), fawkes::BlackBoardInterfaceObserver::bbio_add_observed_create(), fawkes::BlackBoard::register_observer(), and fawkes::tf::Transformer::set_enabled().

fawkes::tf::TransformListener::~TransformListener

(

)

[virtual]

Destructor.

Definition at line 103 of file transform_listener.cpp.

References fawkes::BlackBoard::unregister_listener(), fawkes::BlackBoard::unregister_observer(), and fawkes::BlackBoard::close().

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Member Function Documentation

void fawkes::tf::TransformListener::bb_interface_created	(	const char *	type,
		const char *	id
	)		throw () [virtual]

BlackBoard interface created notification.

This is called whenever an interface is created for a type that you registered for.

Parameters:

type	type of the interface. If you want to store this make a copy as it is not guaranteed that the supplied string exists for longer than the duration of the method call
id	ID of the newly created interface. If you want to store this make a copy as it is not guaranteed that the supplied string exists for longer than the duration of the method call

Reimplemented from fawkes::BlackBoardInterfaceObserver.

Definition at line 129 of file transform_listener.cpp.

void fawkes::tf::TransformListener::bb_interface_data_changed

(

Interface *

interface

)

throw () [virtual]

BlackBoard data changed notification.

This is called whenever the data in an interface that you registered for is modified. This happens if a writer calls the Interface::write() method.

Parameters:

interface

interface instance that you supplied to bbil_add_data_interface()

Reimplemented from fawkes::BlackBoardInterfaceListener.

Definition at line 193 of file transform_listener.cpp.

References fawkes::Interface::read(), fawkes::TransformInterface::translation(), fawkes::TransformInterface::rotation(), fawkes::Interface::timestamp(), fawkes::TransformInterface::frame(), and fawkes::TransformInterface::child_frame().

void fawkes::tf::TransformListener::bb_interface_reader_removed	(	Interface *	interface,
		unsigned int	instance_serial
	)		throw () [virtual]

A reading instance has been closed for a watched interface.

This is called whenever a reading instance of an interface you are watching is closed.

Parameters:

interface	interface instance that you supplied to bbil_add_reader_interface()
instance_serial	the instance serial of the reading instance that has just been removed.

Reimplemented from fawkes::BlackBoardInterfaceListener.

Definition at line 161 of file transform_listener.cpp.

void fawkes::tf::TransformListener::bb_interface_writer_removed	(	Interface *	interface,
		unsigned int	instance_serial
	)		throw () [virtual]

A writing instance has been closed for a watched interface.

This is called whenever a writing instance of an interface you are watching is closed.

Parameters:

interface	interface instance that you supplied to bbil_add_writer_interface()
instance_serial	the instance serial of the writing instance that has just been removed.

Reimplemented from fawkes::BlackBoardInterfaceListener.

Definition at line 152 of file transform_listener.cpp.

std::string fawkes::tf::TransformListener::resolve

(

const std::string &

frame_name

)

Resolve transform name.

Parameters:

frame_name

frame name

Returns:

resolved frame name

Definition at line 123 of file transform_listener.cpp.

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

• src/libs/tf/transform_listener.h
• src/libs/tf/transform_listener.cpp