Package edu.tufts.hrilab.interfaces

Interface CoordinateFramesInterface

All Known Subinterfaces:
SpotInterface
All Known Implementing Classes:
MockSpotComponent, MockTFComponent
public interface CoordinateFramesInterface
Core interface for robot coordinate frames and their transformations.

  • Method Summary

    Modifier and Type
    Method
    Description
    void
    addLocalStaticTransform(String parent, String child, javax.vecmath.Matrix4d transform)
    Add a static transform to the TF tree.
    List<String>
    getCoordinateFrames()
    Get a list of all coordinate frames currently in the system.
    javax.vecmath.Matrix4d
    getTransform(String srcFrame, String dstFrame)
    Get the current transform to convert from one local coordinate frame to a different one.

  • Method Details

    • getTransform

      javax.vecmath.Matrix4d getTransform(String srcFrame, String dstFrame)
      Get the current transform to convert from one local coordinate frame to a different one.
      Parameters:
      srcFrame - source frame
      dstFrame - destination frame
      Returns:

    • getCoordinateFrames

      List<String> getCoordinateFrames()
      Get a list of all coordinate frames currently in the system.
      Returns:

    • addLocalStaticTransform

      void addLocalStaticTransform(String parent, String child, javax.vecmath.Matrix4d transform)
      Add a static transform to the TF tree. This only adds the transform to the local TF instance, and does not add it to the ROS TF tree.
      Parameters:
      parent -
      child -
      transform -