Package edu.tufts.hrilab.tf

Class MockTFComponent

java.lang.Object

edu.tufts.hrilab.diarc.DiarcComponent

edu.tufts.hrilab.tf.MockTFComponent

All Implemented Interfaces:

CoordinateFramesInterface

public class MockTFComponent
extends DiarcComponent
implements CoordinateFramesInterface

Field Summary

Fields inherited from class edu.tufts.hrilab.diarc.DiarcComponent

executionLoopCycleTime, log, shouldRunExecutionLoop

Constructor Summary

Constructors

Constructor	Description
MockTFComponent()

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.

Methods inherited from class edu.tufts.hrilab.diarc.DiarcComponent

additionalUsageInfo, createInstance, createInstance, createInstance, createInstance, executionLoop, getMyGroupConstraints, getMyGroups, getMyService, getMyServices, init, main, parseArgs, shutdown, shutdownComponent

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

MockTFComponent

public MockTFComponent()

Method Details

getTransform

public javax.vecmath.Matrix4d getTransform(String dstFrame)

Description copied from interface: CoordinateFramesInterface

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).

Specified by:

getTransform in interface CoordinateFramesInterface

Returns:

getTransform

public javax.vecmath.Matrix4d getTransform(String srcFrame,
 String dstFrame)

Description copied from interface: CoordinateFramesInterface

Get the current transform to convert from one local coordinate frame to a different one.

Specified by:

getTransform in interface CoordinateFramesInterface

Parameters:

srcFrame - source frame

dstFrame - destination frame

Returns:

getCoordinateFrames

public List<String> getCoordinateFrames()

Description copied from interface: CoordinateFramesInterface

Get a list of all coordinate frames currently in the system.

Specified by:

getCoordinateFrames in interface CoordinateFramesInterface

Returns:

addLocalStaticTransform

public void addLocalStaticTransform(String parent,
 String child,
 javax.vecmath.Matrix4d transform)

Description copied from interface: CoordinateFramesInterface

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.

Specified by:

addLocalStaticTransform in interface CoordinateFramesInterface