Class that caches and updates transformations for given frames. More...
#include <transform_provider.h>
Public Member Functions | |
| TransformProvider (double update_rate=30.) | |
| Constructor. | |
| ~TransformProvider () | |
| Destructor. | |
| bool | getTransform (mesh_filter::MeshHandle handle, Eigen::Isometry3d &transform) const |
| returns the current transformation of a mesh given by its handle | |
| void | addHandle (mesh_filter::MeshHandle handle, const std::string &name) |
| registers a mesh with its handle | |
| void | setFrame (const std::string &frame) |
| sets the camera frame id. The returned transformations are in respect to this coordinate frame | |
| void | start () |
| starts the updating process. Done in a separate thread | |
| void | stop () |
| stops the update process/thread. | |
| 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. | |
Detailed Description
Class that caches and updates transformations for given frames.
Definition at line 55 of file transform_provider.h.
Constructor & Destructor Documentation
◆ TransformProvider()
| TransformProvider::TransformProvider | ( | double | update_rate = 30. | ) |
Constructor.
- 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
- 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
- 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.
◆ setFrame()
| void TransformProvider::setFrame | ( | const std::string & | frame | ) |
sets the camera frame id. The returned transformations are in respect to this coordinate frame
- 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.
- 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 separate thread
Definition at line 55 of file transform_provider.cpp.
◆ stop()
| void TransformProvider::stop | ( | ) |
stops the update process/thread.
Definition at line 61 of file transform_provider.cpp.
The documentation for this class was generated from the following files:
- moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/transform_provider.h
- moveit_ros/perception/mesh_filter/src/transform_provider.cpp
