#include <rtt_tf-component.hpp>

Inheritance diagram for rtt_tf::RTT_TF:

Public Member Functions
void	cleanupHook ()

bool	configureHook ()

	RTT_TF (std::string const &name)

bool	startHook ()

void	stopHook ()

void	updateHook ()

Public Member Functions inherited from RTT::TaskContext
bool	addAttribute (const std::string &name, T &attr)

bool	addAttribute (base::AttributeBase &a)

bool	addAttribute (base::AttributeBase &a)

bool	addAttribute (const std::string &name, T &attr)

bool	addConstant (const std::string &name, const T &attr)

bool	addConstant (const std::string &name, const T &attr)

base::InputPortInterface &	addEventPort (const std::string &name, base::InputPortInterface &port, SlotFunction callback=SlotFunction())

base::InputPortInterface &	addEventPort (base::InputPortInterface &port, SlotFunction callback=SlotFunction())

Operation< Signature > &	addOperation (Operation< Signature > &op)

Operation< Signature > &	addOperation (Operation< Signature > &op)

Operation< typename internal::GetSignature< Func >::Signature > &	addOperation (const std::string name, Func func, Service *serv, ExecutionThread et=ClientThread)

Operation< Signature > &	addOperation (const std::string name, Signature *func, ExecutionThread et=ClientThread)

Operation< typename internal::GetSignature< Func >::Signature > &	addOperation (const std::string name, Func func, Service *serv, ExecutionThread et=ClientThread)

Operation< Signature > &	addOperation (const std::string name, Signature *func, ExecutionThread et=ClientThread)

virtual bool	addPeer (TaskContext *peer, std::string alias="")

virtual bool	addPeer (TaskContext *peer, std::string alias="")

base::PortInterface &	addPort (const std::string &name, base::PortInterface &port)

base::PortInterface &	addPort (base::PortInterface &port)

Property< T > &	addProperty (const std::string &name, T &attr)

bool	addProperty (base::PropertyBase &pb)

Property< T > &	addProperty (const std::string &name, T &attr)

bool	addProperty (base::PropertyBase &pb)

ConfigurationInterface *	attributes ()

ConfigurationInterface *	attributes ()

virtual void	clear ()

virtual bool	connectPeers (TaskContext *peer)

virtual bool	connectPeers (TaskContext *peer)

virtual bool	connectPorts (TaskContext *peer)

virtual bool	connectServices (TaskContext *peer)

virtual bool	connectServices (TaskContext *peer)

virtual void	disconnect ()

virtual void	disconnect ()

virtual void	disconnectPeers (const std::string &name)

virtual void	disconnectPeers (const std::string &name)

base::ActivityInterface *	getActivity ()

T *	getActivity ()

base::AttributeBase *	getAttribute (const std::string &name) const

base::AttributeBase *	getAttribute (const std::string &name) const

virtual const std::string &	getName () const

OperationInterfacePart *	getOperation (std::string name)

OperationInterfacePart *	getOperation (std::string name)

virtual TaskContext *	getPeer (const std::string &peer_name) const

virtual TaskContext *	getPeer (const std::string &peer_name) const

virtual PeerList	getPeerList () const

virtual PeerList	getPeerList () const

base::PortInterface *	getPort (const std::string &name) const

base::PropertyBase *	getProperty (const std::string &name) const

base::PropertyBase *	getProperty (const std::string &name) const

boost::shared_ptr< ServiceType >	getProvider (const std::string &name)

boost::shared_ptr< ServiceType >	getProvider (const std::string &name)

virtual bool	hasPeer (const std::string &peer_name) const

virtual bool	hasPeer (const std::string &peer_name) const

bool	loadService (const std::string &service_name)

bool	loadService (const std::string &service_name)

OperationInterface *	operations ()

OperationInterface *	operations ()

DataFlowInterface *	ports ()

const DataFlowInterface *	ports () const

PropertyBag *	properties ()

PropertyBag *	properties ()

Service::shared_ptr	provides (const std::string &service_name)

Service::shared_ptr	provides ()

Service::shared_ptr	provides ()

Service::shared_ptr	provides (const std::string &service_name)

virtual bool	ready ()

virtual void	removePeer (const std::string &name)

virtual void	removePeer (TaskContext *peer)

virtual void	removePeer (TaskContext *peer)

virtual void	removePeer (const std::string &name)

ServiceRequester::shared_ptr	requires (const std::string &service_name)

ServiceRequester::shared_ptr	requires (const std::string &service_name)

ServiceRequester::shared_ptr	requires ()

ServiceRequester::shared_ptr	requires ()

bool	setActivity (base::ActivityInterface *new_act)

virtual bool	start ()

virtual bool	stop ()

	TaskContext (const std::string &name, TaskState initial_state=Stopped)

virtual	~TaskContext ()

Public Member Functions inherited from RTT::base::TaskCore
virtual bool	activate ()

virtual bool	activate ()

virtual bool	cleanup ()

virtual bool	cleanup ()

virtual bool	configure ()

virtual bool	configure ()

const ExecutionEngine *	engine () const

ExecutionEngine *	engine ()

virtual void	error ()

virtual void	error ()

virtual unsigned	getCpuAffinity () const

virtual unsigned	getCpuAffinity () const

unsigned int	getCycleCounter () const

unsigned int	getIOCounter () const

virtual Seconds	getPeriod () const

virtual Seconds	getPeriod () const

virtual TaskState	getTargetState () const

virtual TaskState	getTaskState () const

unsigned int	getTimeOutCounter () const

unsigned int	getTriggerCounter () const

virtual bool	inException () const

virtual bool	inException () const

virtual bool	inFatalError () const

virtual bool	inFatalError () const

virtual bool	inRunTimeError () const

virtual bool	inRunTimeError () const

virtual bool	isActive () const

virtual bool	isActive () const

virtual bool	isConfigured () const

virtual bool	isConfigured () const

virtual bool	isRunning () const

virtual bool	isRunning () const

virtual bool	recover ()

virtual bool	recover ()

virtual bool	setCpuAffinity (unsigned cpu)

virtual bool	setCpuAffinity (unsigned cpu)

virtual bool	setPeriod (Seconds s)

virtual bool	setPeriod (Seconds s)

	TaskCore (TaskState initial_state=Stopped, const std::string &name=std::string())

virtual bool	trigger ()

virtual bool	trigger ()

virtual bool	update ()

virtual bool	update ()

virtual	~TaskCore ()

Private Types
typedef boost::shared_ptr< tf2::BufferCore >	BufferCorePtr

typedef boost::shared_ptr< RTT::OutputPort< geometry_msgs::TransformStamped > >	OutputPortGeometryTransfromStampedPtr

typedef boost::shared_ptr< tf2_ros::TransformListener >	TransformListenerPtr

Private Member Functions
void	addTFOperations (RTT::Service::shared_ptr service)

void	broadcastStaticTransform (const geometry_msgs::TransformStamped &tform)

void	broadcastStaticTransforms (const std::vector< geometry_msgs::TransformStamped > &tforms)

void	broadcastTransform (const geometry_msgs::TransformStamped &tform)

void	broadcastTransforms (const std::vector< geometry_msgs::TransformStamped > &tforms)

bool	canTransform (const std::string &target, const std::string &source) const

bool	canTransformAtTime (const std::string &target, const std::string &source, const ros::Time &common_time) const

ros::Time	getLatestCommonTime (const std::string &target, const std::string &source) const

void	internalUpdate (tf2_msgs::TFMessage &msg, RTT::InputPort< tf2_msgs::TFMessage > &port, bool is_static)

void	listTrackers ()

geometry_msgs::TransformStamped	lookupTransform (const std::string &target, const std::string &source) const

geometry_msgs::TransformStamped	lookupTransformAtTime (const std::string &target, const std::string &source, const ros::Time &common_time) const

bool	subscribeTransfrom (const std::string &target, const std::string &source)

Private Attributes
BufferCorePtr	buffer_core

RTT::InputPort< tf2_msgs::TFMessage >	port_tf_in

RTT::OutputPort< tf2_msgs::TFMessage >	port_tf_out

RTT::InputPort< tf2_msgs::TFMessage >	port_tf_static_in

RTT::OutputPort< tf2_msgs::TFMessage >	port_tf_static_out

std::map< std::pair< std::string, std::string >, OutputPortGeometryTransfromStampedPtr >	ports_trackers

double	prop_buffer_size

double	prop_cache_time

std::string	prop_tf_prefix

TransformListenerPtr	transform_listener

Static Private Attributes
static const int	DEFAULT_BUFFER_SIZE = 100

Additional Inherited Members
Public Types inherited from RTT::TaskContext
typedef std::vector< std::string >	PeerList

typedef boost::function< void(base::PortInterface *)>	SlotFunction

Public Types inherited from RTT::base::TaskCore
enum	TaskState

Public Attributes inherited from RTT::base::TaskCore
	Exception

	FatalError

	Init

	PreOperational

	Running

	RunTimeError

	Stopped

Protected Types inherited from tf2::BufferCore
typedef boost::function< void(TransformableRequestHandle request_handle, const std::string &target_frame, const std::string &source_frame, ros::Time time, TransformableResult result)>	TransformableCallback

Protected Member Functions inherited from RTT::TaskContext
virtual void	dataOnPortCallback (base::PortInterface *port)

virtual bool	dataOnPortHook (base::PortInterface *port)

void	forceActivity (base::ActivityInterface *new_act)

Protected Member Functions inherited from RTT::base::TaskCore
virtual bool	breakUpdateHook ()

virtual void	errorHook ()

virtual void	exception ()

virtual void	exceptionHook ()

virtual void	fatal ()

Protected Member Functions inherited from tf2::BufferCore
boost::signals2::connection	_addTransformsChangedListener (boost::function< void(void)> callback)

std::string	_allFramesAsDot (double current_time) const

std::string	_allFramesAsDot () const

void	_chainAsVector (const std::string &target_frame, ros::Time target_time, const std::string &source_frame, ros::Time source_time, const std::string &fixed_frame, std::vector< std::string > &output) const

bool	_frameExists (const std::string &frame_id_str) const

void	_getFrameStrings (std::vector< std::string > &ids) const

int	_getLatestCommonTime (CompactFrameID target_frame, CompactFrameID source_frame, ros::Time &time, std::string *error_string) const

bool	_getParent (const std::string &frame_id, ros::Time time, std::string &parent) const

CompactFrameID	_lookupFrameNumber (const std::string &frameid_str) const

CompactFrameID	_lookupOrInsertFrameNumber (const std::string &frameid_str)

void	_removeTransformsChangedListener (boost::signals2::connection c)

CompactFrameID	_validateFrameId (const char *function_name_arg, const std::string &frame_id) const

TransformableCallbackHandle	addTransformableCallback (const TransformableCallback &cb)

TransformableRequestHandle	addTransformableRequest (TransformableCallbackHandle handle, const std::string &target_frame, const std::string &source_frame, ros::Time time)

std::string	allFramesAsString () const

std::string	allFramesAsYAML (double current_time) const

std::string	allFramesAsYAML () const

	BufferCore (ros::Duration cache_time_=ros::Duration(DEFAULT_CACHE_TIME))

void	cancelTransformableRequest (TransformableRequestHandle handle)

bool	canTransform (const std::string &target_frame, const std::string &source_frame, const ros::Time &time, std::string *error_msg=NULL) const

bool	canTransform (const std::string &target_frame, const ros::Time &target_time, const std::string &source_frame, const ros::Time &source_time, const std::string &fixed_frame, std::string *error_msg=NULL) const

void	clear ()

ros::Duration	getCacheLength ()

bool	isUsingDedicatedThread () const

geometry_msgs::TransformStamped	lookupTransform (const std::string &target_frame, const ros::Time &target_time, const std::string &source_frame, const ros::Time &source_time, const std::string &fixed_frame) const

geometry_msgs::TransformStamped	lookupTransform (const std::string &target_frame, const std::string &source_frame, const ros::Time &time) const

void	removeTransformableCallback (TransformableCallbackHandle handle)

bool	setTransform (const geometry_msgs::TransformStamped &transform, const std::string &authority, bool is_static=false)

void	setUsingDedicatedThread (bool value)

virtual	~BufferCore (void)

Protected Attributes inherited from RTT::base::TaskCore
ExecutionEngine *	ee

unsigned int	mCycleCounter

unsigned int	mIOCounter

std::string	mName

TaskState	mTaskState

unsigned int	mTimeOutCounter

unsigned int	mTriggerCounter

bool	mTriggerOnStart

Static Protected Attributes inherited from tf2::BufferCore
static const int	DEFAULT_CACHE_TIME

static const uint32_t	MAX_GRAPH_DEPTH

Detailed Description

Definition at line 14 of file rtt_tf-component.hpp.

Member Typedef Documentation

typedef boost::shared_ptr<tf2::BufferCore> rtt_tf::RTT_TF::BufferCorePtr

private

Definition at line 18 of file rtt_tf-component.hpp.

typedef boost::shared_ptr<RTT::OutputPort<geometry_msgs::TransformStamped> > rtt_tf::RTT_TF::OutputPortGeometryTransfromStampedPtr

private

Definition at line 16 of file rtt_tf-component.hpp.

typedef boost::shared_ptr<tf2_ros::TransformListener> rtt_tf::RTT_TF::TransformListenerPtr

private

Definition at line 17 of file rtt_tf-component.hpp.

Constructor & Destructor Documentation

rtt_tf::RTT_TF::RTT_TF ( std::string const & name )

Definition at line 75 of file rtt_tf-component.cpp.

Member Function Documentation

void rtt_tf::RTT_TF::addTFOperations ( RTT::Service::shared_ptr service )

private

Definition at line 92 of file rtt_tf-component.cpp.

void rtt_tf::RTT_TF::broadcastStaticTransform ( const geometry_msgs::TransformStamped & tform )

private

Definition at line 306 of file rtt_tf-component.cpp.

void rtt_tf::RTT_TF::broadcastStaticTransforms ( const std::vector< geometry_msgs::TransformStamped > & tforms )

private

Definition at line 313 of file rtt_tf-component.cpp.

void rtt_tf::RTT_TF::broadcastTransform ( const geometry_msgs::TransformStamped & tform )

private

Definition at line 293 of file rtt_tf-component.cpp.

void rtt_tf::RTT_TF::broadcastTransforms ( const std::vector< geometry_msgs::TransformStamped > & tforms )

private

Definition at line 300 of file rtt_tf-component.cpp.

bool rtt_tf::RTT_TF::canTransform	(	const std::string &	target,
		const std::string &	source
	)		const

private

Definition at line 270 of file rtt_tf-component.cpp.

bool rtt_tf::RTT_TF::canTransformAtTime	(	const std::string &	target,
		const std::string &	source,
		const ros::Time &	common_time
	)		const

private

Definition at line 277 of file rtt_tf-component.cpp.

void rtt_tf::RTT_TF::cleanupHook ( )

virtual

Reimplemented from RTT::base::TaskCore.

Definition at line 241 of file rtt_tf-component.cpp.

bool rtt_tf::RTT_TF::configureHook ( )

virtual

Reimplemented from RTT::base::TaskCore.

Definition at line 141 of file rtt_tf-component.cpp.

ros::Time rtt_tf::RTT_TF::getLatestCommonTime	(	const std::string &	target,
		const std::string &	source
	)		const

private

Definition at line 249 of file rtt_tf-component.cpp.

void rtt_tf::RTT_TF::internalUpdate	(	tf2_msgs::TFMessage &	msg,
		RTT::InputPort< tf2_msgs::TFMessage > &	port,
		bool	is_static
	)

private

Definition at line 174 of file rtt_tf-component.cpp.

void rtt_tf::RTT_TF::listTrackers ( )

private

Definition at line 341 of file rtt_tf-component.cpp.

geometry_msgs::TransformStamped rtt_tf::RTT_TF::lookupTransform	(	const std::string &	target,
		const std::string &	source
	)		const

private

Definition at line 263 of file rtt_tf-component.cpp.

geometry_msgs::TransformStamped rtt_tf::RTT_TF::lookupTransformAtTime	(	const std::string &	target,
		const std::string &	source,
		const ros::Time &	common_time
	)		const

private

Definition at line 285 of file rtt_tf-component.cpp.

bool rtt_tf::RTT_TF::startHook ( )

virtual

Reimplemented from RTT::base::TaskCore.

Definition at line 206 of file rtt_tf-component.cpp.

void rtt_tf::RTT_TF::stopHook ( )

virtual

Reimplemented from RTT::base::TaskCore.

Definition at line 235 of file rtt_tf-component.cpp.

bool rtt_tf::RTT_TF::subscribeTransfrom	(	const std::string &	target,
		const std::string &	source
	)

private

Definition at line 319 of file rtt_tf-component.cpp.

void rtt_tf::RTT_TF::updateHook ( )

virtual

Reimplemented from RTT::base::TaskCore.

Definition at line 217 of file rtt_tf-component.cpp.

Member Data Documentation

BufferCorePtr rtt_tf::RTT_TF::buffer_core

private

Definition at line 31 of file rtt_tf-component.hpp.

const int rtt_tf::RTT_TF::DEFAULT_BUFFER_SIZE = 100

staticprivate

Definition at line 20 of file rtt_tf-component.hpp.

RTT::InputPort<tf2_msgs::TFMessage> rtt_tf::RTT_TF::port_tf_in

private

Definition at line 26 of file rtt_tf-component.hpp.

RTT::OutputPort<tf2_msgs::TFMessage> rtt_tf::RTT_TF::port_tf_out

private

Definition at line 28 of file rtt_tf-component.hpp.

RTT::InputPort<tf2_msgs::TFMessage> rtt_tf::RTT_TF::port_tf_static_in

private

Definition at line 27 of file rtt_tf-component.hpp.

RTT::OutputPort<tf2_msgs::TFMessage> rtt_tf::RTT_TF::port_tf_static_out

private

Definition at line 29 of file rtt_tf-component.hpp.

std::map<std::pair<std::string, std::string>, OutputPortGeometryTransfromStampedPtr> rtt_tf::RTT_TF::ports_trackers

private

Definition at line 30 of file rtt_tf-component.hpp.

double rtt_tf::RTT_TF::prop_buffer_size

private

Definition at line 23 of file rtt_tf-component.hpp.

double rtt_tf::RTT_TF::prop_cache_time

private

Definition at line 22 of file rtt_tf-component.hpp.

std::string rtt_tf::RTT_TF::prop_tf_prefix

private

Definition at line 24 of file rtt_tf-component.hpp.

TransformListenerPtr rtt_tf::RTT_TF::transform_listener

private

Definition at line 32 of file rtt_tf-component.hpp.

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

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation