Package edu.tufts.hrilab.tf

Class TFComponent

java.lang.Object

edu.tufts.hrilab.diarc.DiarcComponent

edu.tufts.hrilab.tf.TFComponent

All Implemented Interfaces:

CoordinateFramesInterface

public class TFComponent
extends DiarcComponent
implements CoordinateFramesInterface

Field Summary

Fields

Modifier and Type	Field	Description
protected RosConfiguration	rosConfig
protected TF	tf

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

executionLoopCycleTime, log, shouldRunExecutionLoop

Constructor Summary

Constructors

Constructor	Description
TFComponent()

Method Summary

Modifier and Type	Method	Description
protected List<org.apache.commons.cli.Option>	additionalUsageInfo()	Command line options available in sub-class.
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.
protected void	init()	Perform any component initialization.
protected void	parseArgs(org.apache.commons.cli.CommandLine cmdLine)	Called directly after construction to pass runtime values that will override default values.

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

createInstance, createInstance, createInstance, createInstance, executionLoop, getMyGroupConstraints, getMyGroups, getMyService, getMyServices, main, shutdown, shutdownComponent

Methods inherited from class java.lang.Object

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

Field Details

tf

protected TF tf

rosConfig

protected RosConfiguration rosConfig

Constructor Details

TFComponent

public TFComponent()

Method Details

init

protected void init()

Description copied from class: DiarcComponent

Perform any component initialization. This should not be used for setting local fields to default values as was the case in DIARC. This method is called after the constructor, and after parseArgs. Setting default values should be done in field declaration or in the constructor.

Overrides:

init in class DiarcComponent

additionalUsageInfo

protected List<org.apache.commons.cli.Option> additionalUsageInfo()

Description copied from class: DiarcComponent

Command line options available in sub-class. This should be paired with a parseArgs implementation.

Overrides:

additionalUsageInfo in class DiarcComponent

Returns:

parseArgs

protected void parseArgs(org.apache.commons.cli.CommandLine cmdLine)

Description copied from class: DiarcComponent

Called directly after construction to pass runtime values that will override default values. This should parse all the options that additionalUsageInfo provides.zs

Overrides:

parseArgs in class DiarcComponent

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