Class that caches and updates transformations for given frames. More...

#include <transform_provider.h>

Classes
class	TransformContext
	Context Object for registered frames. More...

Public Member Functions
void	addHandle (mesh_filter::MeshHandle handle, const std::string &name)
	registers a mesh with its handle More...

bool	getTransform (mesh_filter::MeshHandle handle, Eigen::Isometry3d &transform) const
	returns the current transformation of a mesh given by its handle More...

void	setFrame (const std::string &frame)
	sets the camera frame id. The returned transformations are in respect to this coordinate frame More...

void	setUpdateRate (double update_rate)
	sets the update rate in Hz. This should be slow enough to reduce the system load but fast enough to get up-to-date transformations. For PSDK compatible devices this value should be around 30 Hz. More...

void	start ()
	starts the updating process. Done in a seperate thread More...

void	stop ()
	stops the update process/thread. More...

	TransformProvider (double update_rate=30.)
	Constructor. More...

	~TransformProvider ()
	Destructor. More...

Private Member Functions
	MOVEIT_CLASS_FORWARD (TransformContext)

void	run ()
	The entry point of the dedicated thread that updates the transformations periodically. More...

void	updateTransforms ()
	this method is called periodically by the dedicated thread and updates all the transformations of the registered frames. More...

Private Attributes
std::string	frame_id_
	the camera frame id More...

std::map< mesh_filter::MeshHandle, TransformContextPtr >	handle2context_
	mapping between the mesh handle and its context More...

planning_scene_monitor::PlanningSceneMonitorPtr	psm_
	SceneMonitor used to get current states. More...

bool	stop_

std::shared_ptr< tf2_ros::Buffer >	tf_buffer_

std::shared_ptr< tf2_ros::TransformListener >	tf_listener_
	TransformListener used to listen and update transformations. More...

std::thread	thread_
	thread object More...

ros::Rate	update_rate_
	update rate in Hz More...

Detailed Description

Class that caches and updates transformations for given frames.

Author: Suat Gedikli (gedik.nosp@m.li@w.nosp@m.illow.nosp@m.gara.nosp@m.ge.co.nosp@m.m)

Definition at line 55 of file transform_provider.h.

Constructor & Destructor Documentation

◆ TransformProvider()

TransformProvider::TransformProvider ( double update_rate = 30. )

Constructor.

Author: Suat Gedikli (gedik.nosp@m.li@w.nosp@m.illow.nosp@m.gara.nosp@m.ge.co.nosp@m.m)

Parameters

[in] update_rate update rate in Hz

Definition at line 42 of file transform_provider.cpp.

◆ ~TransformProvider()

TransformProvider::~TransformProvider ( )

Destructor.

Definition at line 50 of file transform_provider.cpp.

Member Function Documentation

◆ addHandle()

void TransformProvider::addHandle	(	mesh_filter::MeshHandle	handle,
		const std::string &	name
	)

registers a mesh with its handle

Author: Suat Gedikli (gedik.nosp@m.li@w.nosp@m.illow.nosp@m.gara.nosp@m.ge.co.nosp@m.m)

Parameters

[in]	handle	handle of the mesh
[in]	name	frame_id_ of the mesh

Definition at line 67 of file transform_provider.cpp.

◆ getTransform()

bool TransformProvider::getTransform	(	mesh_filter::MeshHandle	handle,
		Eigen::Isometry3d &	transform
	)		const

returns the current transformation of a mesh given by its handle

Author: Suat Gedikli (gedik.nosp@m.li@w.nosp@m.illow.nosp@m.gara.nosp@m.ge.co.nosp@m.m)

Parameters

[in]	handle	handle of the mesh
[out]	transform	pose of the mesh in camera coordinate system

Returns: true if transform available, false otherwise

Definition at line 90 of file transform_provider.cpp.

◆ MOVEIT_CLASS_FORWARD()

TransformProvider::MOVEIT_CLASS_FORWARD ( TransformContext )

private

◆ run()

void TransformProvider::run ( )

private

The entry point of the dedicated thread that updates the transformations periodically.

Author: Suat Gedikli (gedik.nosp@m.li@w.nosp@m.illow.nosp@m.gara.nosp@m.ge.co.nosp@m.m)

Definition at line 105 of file transform_provider.cpp.

◆ setFrame()

void TransformProvider::setFrame ( const std::string & frame )

sets the camera frame id. The returned transformations are in respect to this coordinate frame

Author: Suat Gedikli (gedik.nosp@m.li@w.nosp@m.illow.nosp@m.gara.nosp@m.ge.co.nosp@m.m)

Parameters

frame frame id of parent/camera coordinate system.

Definition at line 75 of file transform_provider.cpp.

◆ setUpdateRate()

void TransformProvider::setUpdateRate ( double update_rate )

sets the update rate in Hz. This should be slow enough to reduce the system load but fast enough to get up-to-date transformations. For PSDK compatible devices this value should be around 30 Hz.

Author: Suat Gedikli (gedik.nosp@m.li@w.nosp@m.illow.nosp@m.gara.nosp@m.ge.co.nosp@m.m)

Parameters

[in] update_rate update rate in Hz

Definition at line 117 of file transform_provider.cpp.

◆ start()

void TransformProvider::start ( )

starts the updating process. Done in a seperate thread

Author: Suat Gedikli (gedik.nosp@m.li@w.nosp@m.illow.nosp@m.gara.nosp@m.ge.co.nosp@m.m)

Definition at line 55 of file transform_provider.cpp.

◆ stop()

void TransformProvider::stop ( )

stops the update process/thread.

Author: Suat Gedikli (gedik.nosp@m.li@w.nosp@m.illow.nosp@m.gara.nosp@m.ge.co.nosp@m.m)

Definition at line 61 of file transform_provider.cpp.

◆ updateTransforms()

void TransformProvider::updateTransforms ( )

private

this method is called periodically by the dedicated thread and updates all the transformations of the registered frames.

Author: Suat Gedikli (gedik.nosp@m.li@w.nosp@m.illow.nosp@m.gara.nosp@m.ge.co.nosp@m.m)

Definition at line 122 of file transform_provider.cpp.

Member Data Documentation

◆ frame_id_

std::string TransformProvider::frame_id_

private

the camera frame id

Definition at line 156 of file transform_provider.h.

◆ handle2context_

std::map<mesh_filter::MeshHandle, TransformContextPtr> TransformProvider::handle2context_

private

mapping between the mesh handle and its context

Definition at line 146 of file transform_provider.h.

◆ psm_

planning_scene_monitor::PlanningSceneMonitorPtr TransformProvider::psm_

private

SceneMonitor used to get current states.

Definition at line 153 of file transform_provider.h.

◆ stop_

bool TransformProvider::stop_

private

\flag to leave the update loop

Definition at line 162 of file transform_provider.h.

◆ tf_buffer_

std::shared_ptr<tf2_ros::Buffer> TransformProvider::tf_buffer_

private

Definition at line 150 of file transform_provider.h.

◆ tf_listener_

std::shared_ptr<tf2_ros::TransformListener> TransformProvider::tf_listener_

private

TransformListener used to listen and update transformations.

Definition at line 149 of file transform_provider.h.

◆ thread_

std::thread TransformProvider::thread_

private

thread object

Definition at line 159 of file transform_provider.h.

◆ update_rate_

ros::Rate TransformProvider::update_rate_

private

update rate in Hz

Definition at line 165 of file transform_provider.h.

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

Classes

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ TransformProvider()

◆ ~TransformProvider()

Member Function Documentation

◆ addHandle()

◆ getTransform()

◆ MOVEIT_CLASS_FORWARD()

◆ run()

◆ setFrame()

◆ setUpdateRate()

◆ start()

◆ stop()

◆ updateTransforms()

Member Data Documentation

◆ frame_id_

◆ handle2context_

◆ psm_

◆ stop_

◆ tf_buffer_

◆ tf_listener_

◆ thread_

◆ update_rate_