cl_move_base_z::CpTFListener Class Reference

#include <cp_tf_listener.h>

Inheritance diagram for cl_move_base_z::CpTFListener:

Collaboration diagram for cl_move_base_z::CpTFListener:

Public Member Functions
	CpTFListener ()
virtual void	update () override
void	getLastTransform (std::string &targetPoseFrameName, std::string &referenceBaseFrame, geometry_msgs::Pose &out)
std::future< geometry_msgs::Pose >	waitForNextTransform (std::string &targetName, std::string &referenceBaseFrame)
Public Member Functions inherited from smacc::ISmaccComponent
	ISmaccComponent ()
virtual	~ISmaccComponent ()
virtual std::string	getName () const
Public Member Functions inherited from smacc::ISmaccUpdatable
	ISmaccUpdatable ()
	ISmaccUpdatable (ros::Duration duration)
void	executeUpdate ()
void	setUpdatePeriod (ros::Duration duration)

Private Attributes
std::mutex	m_mutex_
std::list< std::shared_ptr< TfPoseTrack > >	poseTracks_

Static Private Attributes
static std::shared_ptr< tf::TransformListener >	tfListener_
static std::mutex	listenerMutex_

Additional Inherited Members
Protected Member Functions inherited from smacc::ISmaccComponent
virtual void	initialize (ISmaccClient *owner)
void	setStateMachine (ISmaccStateMachine *stateMachine)
template<typename EventType >
void	postEvent (const EventType &ev)
template<typename EventType >
void	postEvent ()
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()
template<typename TComponent >
void	requiresComponent (TComponent *&requiredComponentStorage)
template<typename TClient >
void	requiresClient (TClient *&requiredClientStorage)
virtual void	onInitialize ()
template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createSiblingComponent (TArgs... targs)
template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createSiblingNamedComponent (std::string name, TArgs... targs)
virtual void	update ()=0
Protected Attributes inherited from smacc::ISmaccComponent
ISmaccStateMachine *	stateMachine_
ISmaccClient *	owner_

Detailed Description

Definition at line 29 of file cp_tf_listener.h.

Constructor & Destructor Documentation

CpTFListener()

cl_move_base_z::CpTFListener::CpTFListener

(

)

Member Function Documentation

getLastTransform()

void cl_move_base_z::CpTFListener::getLastTransform ( std::string &  targetPoseFrameName, std::string &  referenceBaseFrame, geometry_msgs::Pose &  out  )

inline

Definition at line 62 of file cp_tf_listener.h.

        {
        }

update()

virtual void cl_move_base_z::CpTFListener::update ( )

inlineoverridevirtual

Implements smacc::ISmaccUpdatable.

Definition at line 34 of file cp_tf_listener.h.

        {
            for(auto& poseTrack: poseTracks_)
            {
                tf::StampedTransform transform;
                try
                {
                    {
                        std::lock_guard<std::mutex> lock(listenerMutex_);
                        tfListener_->lookupTransform(poseTrack->referenceBaseFrame_,poseTrack->targetPoseFrame_,
                                                    ros::Time(0), transform);
                    }
 
                    {
                        std::lock_guard<std::mutex> guard(m_mutex_);
                        tf::poseTFToMsg(transform, poseTrack->pose_.pose);
                        poseTrack->pose_.header.stamp = transform.stamp_;
                        poseTrack->pose_.header.frame_id = poseTrack->referenceBaseFrame_;
                        poseTrack->isInitialized = true;
                    }
                }
                catch (tf::TransformException ex)
                {
                    ROS_ERROR_STREAM_THROTTLE(1, "[Component pose] (" << poseFrameName_ << "/[" << referenceFrame_ << "] ) is failing on pose update : " << ex.what());
                }
            }
        }

References listenerMutex_, m_mutex_, poseTracks_, and tfListener_.

waitForNextTransform()

std::future< geometry_msgs::Pose > cl_move_base_z::CpTFListener::waitForNextTransform ( std::string &  targetName, std::string &  referenceBaseFrame  )

inline

Definition at line 66 of file cp_tf_listener.h.

        {
            tracks_
        }

Member Data Documentation

listenerMutex_

std::mutex cl_move_base_z::CpTFListener::listenerMutex_

staticprivate

Definition at line 73 of file cp_tf_listener.h.

Referenced by update().

m_mutex_

std::mutex cl_move_base_z::CpTFListener::m_mutex_

private

Definition at line 75 of file cp_tf_listener.h.

Referenced by update().

poseTracks_

std::list<std::shared_ptr<TfPoseTrack> > cl_move_base_z::CpTFListener::poseTracks_

private

Definition at line 76 of file cp_tf_listener.h.

Referenced by update().

tfListener_

std::shared_ptr<tf::TransformListener> cl_move_base_z::CpTFListener::tfListener_

staticprivate

Definition at line 72 of file cp_tf_listener.h.

Referenced by update().

---

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

• smacc_client_library/move_group_interface_client/include/move_group_interface_client/components/cp_tf_listener.h