transformer::TransformationElement Class Reference

#include <Transformer.hpp>

Inheritance diagram for transformer::TransformationElement:

Public Member Functions
	TransformationElement (const std::string &sourceFrame, const std::string &targetFrame)
virtual	~TransformationElement ()
virtual bool	getTransformation (const base::Time &atTime, bool doInterpolation, TransformationType &tr)=0
virtual void	addTransformationChangedCallback (boost::function< void(const base::Time &ts)> callback)
virtual void	clearTransformationChangedCallbacks ()
const std::string &	getSourceFrame () const
const std::string &	getTargetFrame () const

Protected Attributes
std::vector< boost::function < void(const base::Time &ts)> >	elementChangedCallbacks

Detailed Description

This is a base class, that represens an abstract transformation from sourceFrame to targetFrame.

Constructor & Destructor Documentation

transformer::TransformationElement::TransformationElement ( const std::string &  sourceFrame, const std::string &  targetFrame  )

inline

virtual transformer::TransformationElement::~TransformationElement ( )

inlinevirtual

Member Function Documentation

virtual void transformer::TransformationElement::addTransformationChangedCallback ( boost::function< void(const base::Time &ts)>  callback )

inlinevirtual

This function registers a callback, that should be called every time the TransformationElement changes its value.

Reimplemented in transformer::InverseTransformationElement.

virtual void transformer::TransformationElement::clearTransformationChangedCallbacks ( )

inlinevirtual

Removes all registered callbacks

const std::string& transformer::TransformationElement::getSourceFrame ( ) const

inline

returns the name of the source frame

const std::string& transformer::TransformationElement::getTargetFrame ( ) const

inline

returns the name of the target frame

virtual bool transformer::TransformationElement::getTransformation ( const base::Time &  atTime, bool  doInterpolation, TransformationType &  tr  )

pure virtual

This method my be asked for a concrete transformation at a time X. On request this should should interpolate the transformation to match the given time better than the available data.

Note if no transformation is available getTransformation will return false

Implemented in transformer::InverseTransformationElement, transformer::DynamicTransformationElement, transformer::StaticTransformationElement, and transformer::NonAlignedDynamicTransformationElement.

Member Data Documentation

std::vector<boost::function<void (const base::Time &ts)> > transformer::TransformationElement::elementChangedCallbacks

protected

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

• /build/rock-master-18.09-drivers-transformer-0.20160907/src/Transformer.hpp