moveit2
The MoveIt Motion Planning Framework for ROS 2.
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TransformProvider Class Reference

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

#include <transform_provider.h>

Public Member Functions

 TransformProvider (double update_rate=30.)
 Constructor. More...
 
 ~TransformProvider ()
 Destructor. More...
 
bool getTransform (mesh_filter::MeshHandle handle, Eigen::Isometry3d &transform) const
 returns the current transformation of a mesh given by its handle More...
 
void addHandle (mesh_filter::MeshHandle handle, const std::string &name)
 registers a mesh with 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 start ()
 starts the updating process. Done in a separate thread More...
 
void stop ()
 stops the update process/thread. 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...
 

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_rateupdate 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.

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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]handlehandle of the mesh
[in]nameframe_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]handlehandle of the mesh
[out]transformpose of the mesh in camera coordinate system
Returns
true if transform available, false otherwise

Definition at line 90 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
frameframe 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_rateupdate rate in Hz

Definition at line 117 of file transform_provider.cpp.

◆ start()

void TransformProvider::start ( )

starts the updating process. Done in a separate 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.

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