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 | |
| bool | getTransform (mesh_filter::MeshHandle handle, Eigen::Affine3d &transform) const |
| returns the current transformation of a mesh given by its handle | |
| void | setFrame (const std::string &frame) |
| sets the camera frame id. The returned transformations are in respect to this coordinate frame | |
| 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 | |
| void | start () |
| starts the updating process. Done in a seperate thread | |
| void | stop () |
| stops the update process/thread. | |
| TransformProvider (unsigned long interval_us=30000) | |
| Constructor. | |
| ~TransformProvider () | |
| Destructor. | |
Private Member Functions | |
| MOVEIT_CLASS_FORWARD (TransformContext) | |
| void | run () |
| The entry point of the dedicated thread that updates the transformations periodically. | |
| void | updateTransforms () |
| this method is called periodically by the dedicated thread and updates all the transformations of the registered frames. | |
Private Attributes | |
| std::string | frame_id_ |
| the camera frame id | |
| std::map < mesh_filter::MeshHandle, TransformContextPtr > | handle2context_ |
| mapping between the mesh handle and its context | |
| unsigned long | interval_us_ |
| update interval in micro seconds | |
| planning_scene_monitor::PlanningSceneMonitorPtr | psm_ |
| SceneMonitor used to get current states. | |
| bool | stop_ |
| boost::shared_ptr < tf::TransformListener > | tf_ |
| TransformListener used to listen and update transformations. | |
| boost::thread | thread_ |
| thread object | |
Class that caches and updates transformations for given frames.
Definition at line 58 of file transform_provider.h.
| TransformProvider::TransformProvider | ( | unsigned long | interval_us = 30000 | ) |
Constructor.
| [in] | interval_us | update interval in micro seconds |
Definition at line 47 of file transform_provider.cpp.
Destructor.
Definition at line 54 of file transform_provider.cpp.
| void TransformProvider::addHandle | ( | mesh_filter::MeshHandle | handle, |
| const std::string & | name | ||
| ) |
registers a mesh with its handle
| [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
| [in] | handle | handle of the mesh |
| [out] | transform | pose of the mesh in camera coordinate system |
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.
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
| 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
| [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
Definition at line 59 of file transform_provider.cpp.
| void TransformProvider::stop | ( | void | ) |
stops the update process/thread.
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.
Definition at line 127 of file transform_provider.cpp.
std::string TransformProvider::frame_id_ [private] |
the camera frame id
Definition at line 157 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 148 of file transform_provider.h.
unsigned long TransformProvider::interval_us_ [private] |
update interval in micro seconds
Definition at line 166 of file transform_provider.h.
planning_scene_monitor::PlanningSceneMonitorPtr TransformProvider::psm_ [private] |
SceneMonitor used to get current states.
Definition at line 154 of file transform_provider.h.
bool TransformProvider::stop_ [private] |
to leave the update loop
Definition at line 163 of file transform_provider.h.
boost::shared_ptr<tf::TransformListener> TransformProvider::tf_ [private] |
TransformListener used to listen and update transformations.
Definition at line 151 of file transform_provider.h.
boost::thread TransformProvider::thread_ [private] |
thread object
Definition at line 160 of file transform_provider.h.