Package edu.tufts.hrilab.interfaces

Interface CoordinateFramesInterface

All Known Implementing Classes:
MockTFComponent, TFComponent
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 dstFrame)
    Get the current transform from the base of the robot to whichever frame you specify.
    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 dstFrame)
      Get the current transform from the base of the robot to whichever frame you specify. This is just a convenience method for the more general getTransform(src,dest).
      Parameters:
      dstFrame -
      Returns:

    • 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 -