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

#include <transform_provider.h>

Classes
struct	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::Affine3d &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	setUpdateInterval (unsigned long usecs)
	sets the update interval in micro seconds. This should be low enough to reduce the system load but high enough to get up-to-date transformations. For PSDK compatible devices this value should be around 30000 = 30ms More...

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

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

	TransformProvider (unsigned long interval_us=30000)
	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...

unsigned long	interval_us_
	update interval in micro seconds More...

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

bool	stop_

boost::shared_ptr< tf::TransformListener >	tf_
	TransformListener used to listen and update transformations. More...

boost::thread	thread_
	thread object 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 58 of file transform_provider.h.

Constructor & Destructor Documentation

TransformProvider::TransformProvider ( unsigned long interval_us = 30000 )

Constructor.

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

Parameters

[in] interval_us update interval in micro seconds

Definition at line 47 of file transform_provider.cpp.

TransformProvider::~TransformProvider ( )

Destructor.

Definition at line 54 of file transform_provider.cpp.

Member Function Documentation

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 teh mesh

Definition at line 71 of file transform_provider.cpp.

bool TransformProvider::getTransform	(	mesh_filter::MeshHandle	handle,
		Eigen::Affine3d &	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 95 of file transform_provider.cpp.

TransformProvider::MOVEIT_CLASS_FORWARD ( TransformContext )

private

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 110 of file transform_provider.cpp.

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 79 of file transform_provider.cpp.

void TransformProvider::setUpdateInterval ( unsigned long usecs )

sets the update interval in micro seconds. This should be low enough to reduce the system load but high enough to get up-to-date transformations. For PSDK compatible devices this value should be around 30000 = 30ms

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

Parameters

[in] usecs interval in micro seconds

Definition at line 122 of file transform_provider.cpp.

void TransformProvider::start ( void )

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 59 of file transform_provider.cpp.

void TransformProvider::stop ( void )

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 65 of file transform_provider.cpp.

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 127 of file transform_provider.cpp.

Member Data Documentation

std::string TransformProvider::frame_id_

private

the camera frame id

Definition at line 158 of file transform_provider.h.

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

private

mapping between the mesh handle and its context

Definition at line 149 of file transform_provider.h.

unsigned long TransformProvider::interval_us_

private

update interval in micro seconds

Definition at line 167 of file transform_provider.h.

planning_scene_monitor::PlanningSceneMonitorPtr TransformProvider::psm_

private

SceneMonitor used to get current states.

Definition at line 155 of file transform_provider.h.

bool TransformProvider::stop_

private

to leave the update loop

Definition at line 164 of file transform_provider.h.

boost::shared_ptr<tf::TransformListener> TransformProvider::tf_

private

TransformListener used to listen and update transformations.

Definition at line 152 of file transform_provider.h.

boost::thread TransformProvider::thread_

private

thread object

Definition at line 161 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

Member Function Documentation

Member Data Documentation