#include <fw/FrameworkTransformer.h>

Inheritance diagram for FrameworkTransformer:

[legend]

Public Types
typedef FrameworkTransformerNode	Node
	The type of a transformation node. More...

typedef Node *	NodePtr
	The type of a pointer of the actual transformation node. More...

typedef TransformerBase::AbstractNodePtr	AbstractNodePtr
	The type of a pointer to the AbstractTransformerNode base class. More...

Public Member Functions
	FrameworkTransformer (Authority &authority)

	~FrameworkTransformer ()

void	addLink (const std::string &childID, const std::string &parentID)
	Add a transformation link between the given child and parent. More...

void	addLink (const std::string &childID, const std::string &parentID, FrameworkTransformerNode::Type type)
	Add a transformation link between the given child and parent, specifying the type of the transformation. More...

template<typename Transform >
void	publishTransform (const std::string &nodeID, const Transform &transform, const Time &time=Time::now())
	Publish a transformation for a given node. More...

template<typename Transform , typename Filter = NearestNeighborInterpolator>
void	publishTransformIndirect (const std::string &nodeID, const std::string &targetID, const std::string &sourceID, const Transform &transform, const Time &time=Time::now(), Filter &&filter=NearestNeighborInterpolator())
	Publish a transformation (nodeID) indirect by specifying a direct transform between two nodes (sourceID and targetID). More...

void	storeTransformTree (const Path &filename)
	Stores currently known transform tree in a XML config file. More...

TransformDesc	prepareTransform (NodePtr target, NodePtr source)
	Prepares the computation of a transformation by computing the path between the target and source node. More...

TransformDesc	prepareTransform (NodePtr target, NodePtr source, NodePtr fixed)
	Prepares the computation of a transformation by computing the path between the 'target' and 'source' node via the 'fixed' node, i.e. More...

Transform	getTransform (const TransformDesc &desc, const Time &targetTime, const Time &sourceTime, Filter &&filter)
	Computes and returns a certain transformation that is specified via the TransformDesc. More...

Transform	getTransform (const TransformDesc &desc, const Time &targetTime, const Time &sourceTime)
	same as above, but using NearestNeighborInterpolator as filter. More...

Transform	getTransform (const TransformDesc &desc, const Time &time, Filter &&filter)
	same as above, but with the same time for source and target transform. More...

Transform	getTransform (const TransformDesc &desc, const Time &time)
	same as above, but using NearestNeighborInterpolator as filter. More...

Transform	getTransform (NodePtr target, NodePtr source, const Time &time, Filter &&filter)
	Computes and returns a certain transformation between the specified target and source node. More...

Transform	getTransform (NodePtr target, NodePtr source, const Time &time)
	same as above, but using NearestNeighborInterpolator as filter More...

Transform	getTransform (NodePtr target, const Time &targetTime, NodePtr source, const Time &sourceTime, NodePtr fixed, Filter &&filter)
	Computes and returns a certain transformation between the specified target and source node via the 'fixed' node, i.e. More...

Transform	getTransform (NodePtr target, const Time &targetTime, NodePtr source, const Time &sourceTime, NodePtr fixed)
	same as above, but using NearestNeighborInterpolator as filter More...

Transform	inferTransform (NodePtr node, NodePtr target, NodePtr source, const Transform &transform, const Time &time, Filter &&filter)
	Infers a transform by specifying a direct transform between two nodes, which are connected indirectly over the transformation, that shall be infered. More...

Transform	inferTransform (NodePtr node, NodePtr target, NodePtr source, const Transform &transform, const Time &time)
	same as above, but using NearestNeighborInterpolator as filter More...

NodePtr	getNode (const std::string &nodeID)
	Returns a pointer to the node with the given ID or nullptr if it does not exist. More...

bool	addLink (AbstractNodePtr child, AbstractNodePtr parent)
	Adds a link between the specified child and its parent. More...

void	removeLink (AbstractNodePtr child, AbstractNodePtr parent)
	Removes an existing link between the specified child node and the given parent node. More...

std::list< AbstractNodePtr >	getNodes ()
	Returns all nodes that are known by this transformer. More...

std::list< std::pair< AbstractNodePtr, AbstractNodePtr > >	getLinks ()
	Returns all links (as parent,child-pairs) that are known by this transformer. More...

const std::list< AbstractNodePtr >	getRootNodes ()
	Returns a list of all nodes, that have no ancestor, e.g. More...

void	getTransformChain (AbstractNodePtr target, AbstractNodePtr source, Chain &oChain)

bool	isTransformAvailable (AbstractNodePtr target, AbstractNodePtr source)
	Checks if a transformation between 'target' and 'source' node is available: More...

void	reflect (Reflector &r)

Static Public Attributes
static const int	MAX_TREE_DEPTH = 1000
	The max. More...

Protected Types
typedef std::map< std::string, AbstractNodePtr >	IDToNodeMap

Protected Member Functions
void	registerInterface (const std::string &interface, const std::string &otherTransformer)

bool	createLink (const std::string &childID, const std::string &parentID, FrameworkTransformerNode::Type type)

void	notifyTransformerOfLink (const std::string &otherTransformer, const std::string &childID, const std::string &parentID, FrameworkTransformerNode::Type type)

void	notifyTransformerOfLink (const std::string &otherTransformer, bool implementsLinkType, const std::string &childID, const std::string &parentID, FrameworkTransformerNode::Type type)

Transform	getTransform (const Chain &chain, const Time &time, Filter &&filter)
	Computes the resulting transform by applying all transforms according to the specified transform chain. More...

void	addNode (AbstractNodePtr node)
	An exception that is thrown when errors related to transformations occur. More...

Static Protected Member Functions
static NodePtr	castNode (AbstractNodePtr node)
	Casts an abstract node pointer to the actual used Node. This is safe. More...

Protected Attributes
IDToNodeMap	mNodes
	maps from ids to nodes that were added to us More...

Friends
class	IFrameworkTransformer< FrameworkTransformer >

Member Typedef Documentation

◆ Node

typedef FrameworkTransformerNode Node

inherited

The type of a transformation node.

◆ NodePtr

typedef Node* NodePtr

inherited

The type of a pointer of the actual transformation node.

◆ AbstractNodePtr

typedef TransformerBase::AbstractNodePtr AbstractNodePtr

inherited

The type of a pointer to the AbstractTransformerNode base class.

◆ IDToNodeMap

typedef std::map<std::string, AbstractNodePtr> IDToNodeMap

protectedinherited

Constructor & Destructor Documentation

◆ FrameworkTransformer()

FrameworkTransformer ( Authority & authority )

◆ ~FrameworkTransformer()

~FrameworkTransformer ( )

Member Function Documentation

◆ addLink() [1/3]

void addLink	(	const std::string &	childID,
		const std::string &	parentID
	)

Add a transformation link between the given child and parent.

Creates child and/or parent if not existing, unlinks an existing different parent if necessary. The type is not specified. This method exists for backward compatibility.

Parameters

[in]	childID	The frame id of the child
[in]	parentID	The frame id of the parent

◆ addLink() [2/3]

void addLink	(	const std::string &	childID,
		const std::string &	parentID,
		FrameworkTransformerNode::Type	type
	)

Add a transformation link between the given child and parent, specifying the type of the transformation.

Creates child and/or parent if not existing, unlinks an existing different parent if necessary.

Parameters

[in]	childID	The frame id of the child
[in]	parentID	The frame id of the parent
[in]	type	Link type fixed/moving

Note: : If this method is called for a specific childID concurrently with different parentID and/or type, the resulting link and type are unspecified, may even result in parentID from one call and type from other call. However, an application non-consistently adding transformation links is not considered well-formed.

◆ publishTransform()

void publishTransform	(	const std::string &	nodeID,
		const Transform &	transform,
		const Time &	time = `Time::now()`
	)

inline

Publish a transformation for a given node.

Parameters

[in]	nodeID	The id of the node
[in]	transform	Either a 2d or 3d transformation
[in]	time	The time of the transformation

◆ publishTransformIndirect()

void publishTransformIndirect	(	const std::string &	nodeID,
		const std::string &	targetID,
		const std::string &	sourceID,
		const Transform &	transform,
		const Time &	time = `Time::now()`,
		Filter &&	filter = `NearestNeighborInterpolator()`
	)

inline

Publish a transformation (nodeID) indirect by specifying a direct transform between two nodes (sourceID and targetID).

These two nodes are connected indirectly over the transformation (nodeID) This is, the transformation (nodeID) is inferred. In the case you know the direct transform between 'targetID' and 'sourceID' you can use this method to publish the desired transform on the link 'nodeID' at the specified 'time' and using the specified 'filter' for interpolation.

Exceptions

XRuntime if either the frame, target or source node does not exist

Parameters

[in]	nodeID	The id of the frame to publish indirectly
[in]	targetID	The frame id of the target node
[in]	sourceID	The frame id of the source node
[in]	transform	Either a 2d or 3d transformation
[in]	time	The time of the transformation
[in]	filter	The filter used to interpolate between the transforms

◆ storeTransformTree()

void storeTransformTree ( const Path & filename )

Stores currently known transform tree in a XML config file.

◆ registerInterface()

void registerInterface	(	const std::string &	interface,
		const std::string &	otherTransformer
	)

protected

◆ createLink()

bool createLink	(	const std::string &	childID,
		const std::string &	parentID,
		FrameworkTransformerNode::Type	type
	)

protected

◆ notifyTransformerOfLink() [1/2]

void notifyTransformerOfLink	(	const std::string &	otherTransformer,
		const std::string &	childID,
		const std::string &	parentID,
		FrameworkTransformerNode::Type	type
	)

protected

◆ notifyTransformerOfLink() [2/2]

void notifyTransformerOfLink	(	const std::string &	otherTransformer,
		bool	implementsLinkType,
		const std::string &	childID,
		const std::string &	parentID,
		FrameworkTransformerNode::Type	type
	)

protected

◆ prepareTransform() [1/2]

TransformDesc prepareTransform	(	NodePtr	target,
		NodePtr	source
	)

inlineinherited

Prepares the computation of a transformation by computing the path between the target and source node.

The returned TransformDesc can be used in a call to the getTransform() method.

◆ prepareTransform() [2/2]

TransformDesc prepareTransform	(	NodePtr	target,
		NodePtr	source,
		NodePtr	fixed
	)

inlineinherited

Prepares the computation of a transformation by computing the path between the 'target' and 'source' node via the 'fixed' node, i.e.

target->fixed->source. The returned TransformDesc can be used in a call to the getTransform() method.

◆ getTransform() [1/9]

Transform getTransform	(	const TransformDesc &	desc,
		const Time &	targetTime,
		const Time &	sourceTime,
		Filter &&	filter
	)

inlineinherited

Computes and returns a certain transformation that is specified via the TransformDesc.

Moreover, the timestamps of the transformations is taken into account, therefore the timestamps of the target and source transforms must be specified. Additionally, a filter can be specified that can be used to interpolate or filter the transforms according to the specified timestamps.

◆ getTransform() [2/9]

Transform getTransform	(	const TransformDesc &	desc,
		const Time &	targetTime,
		const Time &	sourceTime
	)

inlineinherited

same as above, but using NearestNeighborInterpolator as filter.

◆ getTransform() [3/9]

Transform getTransform	(	const TransformDesc &	desc,
		const Time &	time,
		Filter &&	filter
	)

inlineinherited

same as above, but with the same time for source and target transform.

◆ getTransform() [4/9]

Transform getTransform	(	const TransformDesc &	desc,
		const Time &	time
	)

inlineinherited

same as above, but using NearestNeighborInterpolator as filter.

◆ getTransform() [5/9]

Transform getTransform	(	NodePtr	target,
		NodePtr	source,
		const Time &	time,
		Filter &&	filter
	)

inlineinherited

Computes and returns a certain transformation between the specified target and source node.

Moreover, the timestamps of the transformations is taken into account. Additionally, a filter can be specified that can be used to interpolate or filter the transforms according to the specified timestamps.

◆ getTransform() [6/9]

Transform getTransform	(	NodePtr	target,
		NodePtr	source,
		const Time &	time
	)

inlineinherited

same as above, but using NearestNeighborInterpolator as filter

◆ getTransform() [7/9]

Transform getTransform	(	NodePtr	target,
		const Time &	targetTime,
		NodePtr	source,
		const Time &	sourceTime,
		NodePtr	fixed,
		Filter &&	filter
	)

inlineinherited

Computes and returns a certain transformation between the specified target and source node via the 'fixed' node, i.e.

target->fixed->source. Moreover, the timestamps of the transformations is taken into account, therefore the timestamps of the target and source transforms must be specified. Additionally, a filter can be specified that can be used to interpolate or filter the transforms according to the specified timestamps.

◆ getTransform() [8/9]

Transform getTransform	(	NodePtr	target,
		const Time &	targetTime,
		NodePtr	source,
		const Time &	sourceTime,
		NodePtr	fixed
	)

inlineinherited

same as above, but using NearestNeighborInterpolator as filter

◆ getTransform() [9/9]

Transform getTransform	(	const Chain &	chain,
		const Time &	time,
		Filter &&	filter
	)

inlineprotectedinherited

Computes the resulting transform by applying all transforms according to the specified transform chain.

◆ inferTransform() [1/2]

Transform inferTransform	(	NodePtr	node,
		NodePtr	target,
		NodePtr	source,
		const Transform &	transform,
		const Time &	time,
		Filter &&	filter
	)

inlineinherited

Infers a transform by specifying a direct transform between two nodes, which are connected indirectly over the transformation, that shall be infered.

Imagine the following example, were the transformation node 'p' is directly connected to the transformation node 'node'. Additionally, both nodes are connected via certain paths with the nodes 'source' and 'target', respectively:

  p ---- x ---- source
  |
  |
  |
  v
  node --- y --- target

Now imagine, you want to compute the transformation between 'p' and 'node', but all you know is the direct transformation between the nodes 'source' and 'target' which are however not directly connected:

  p ---- x ---- source
  |                .
  | ???            . this 'transform'
  |                . is known
  v                v
  node --- y --- target

In this case you can use this method. It computes and returns the desired transform on the link towards 'node' given the 'transform' between the nodes 'target' and 'source' at the specified 'time' and using the specified 'filter' for interpolation.

◆ inferTransform() [2/2]

Transform inferTransform	(	NodePtr	node,
		NodePtr	target,
		NodePtr	source,
		const Transform &	transform,
		const Time &	time
	)

inlineinherited

same as above, but using NearestNeighborInterpolator as filter

◆ getNode()

NodePtr getNode ( const std::string & nodeID )

inlineinherited

Returns a pointer to the node with the given ID or nullptr if it does not exist.

◆ castNode()

static NodePtr castNode ( AbstractNodePtr node )

inlinestaticprotectedinherited

Casts an abstract node pointer to the actual used Node. This is safe.

◆ addLink() [3/3]

bool addLink	(	AbstractNodePtr	child,
		AbstractNodePtr	parent
	)

inherited

Adds a link between the specified child and its parent.

Both nodes must have been added to this Transformer. If both nodes are connected to each other already this method has no effect. If the child was connected to another parent before it is unlinked from its current parent first and then linked to the new one. Returns true, if the link was new. If the link was already known, false is returned.

◆ removeLink()

void removeLink	(	AbstractNodePtr	child,
		AbstractNodePtr	parent
	)

inherited

Removes an existing link between the specified child node and the given parent node.

If both nodes are not connected, this method does nothing.

◆ getNodes()

std::list<AbstractNodePtr> getNodes ( )

inherited

Returns all nodes that are known by this transformer.

◆ getLinks()

std::list<std::pair<AbstractNodePtr, AbstractNodePtr> > getLinks ( )

inherited

Returns all links (as parent,child-pairs) that are known by this transformer.

◆ getRootNodes()

const std::list<AbstractNodePtr> getRootNodes ( )

inherited

Returns a list of all nodes, that have no ancestor, e.g.

that are root nodes of a transform tree.

◆ getTransformChain()

void getTransformChain	(	AbstractNodePtr	target,
		AbstractNodePtr	source,
		Chain &	oChain
	)

inherited

Exceptions

Throws XTransform, if source and target are not connected or if there is a loop in the transform tree.

◆ isTransformAvailable()

bool isTransformAvailable	(	AbstractNodePtr	target,
		AbstractNodePtr	source
	)

inherited

Checks if a transformation between 'target' and 'source' node is available:

Is a path between 'target' and 'source' available
Does every Node along the path contain data

◆ addNode()

void addNode ( AbstractNodePtr node )

protectedinherited

An exception that is thrown when errors related to transformations occur.

Adds the specified node to the internal node map

◆ reflect()

void reflect ( Reflector & r )

inlineinherited

Friends And Related Function Documentation

◆ IFrameworkTransformer< FrameworkTransformer >

friend class IFrameworkTransformer< FrameworkTransformer >

friend

Member Data Documentation

◆ MAX_TREE_DEPTH

const int MAX_TREE_DEPTH = 1000

staticinherited

The max.

allowed number of levels within a transformation tree. It is used by collectNodesUpwardsToRoot() that is applied to find the "lowest common ancestor" in getTransformChain() to detect loops within the transformation tree.

◆ mNodes

IDToNodeMap mNodes

protectedinherited

maps from ids to nodes that were added to us

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

framework/include/fw/FrameworkTransformer.h

Public Types

Public Member Functions

Static Public Attributes

Protected Types

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Friends

Member Typedef Documentation

◆ Node

◆ NodePtr

◆ AbstractNodePtr

◆ IDToNodeMap

Constructor & Destructor Documentation

◆ FrameworkTransformer()

◆ ~FrameworkTransformer()

Member Function Documentation

◆ addLink() [1/3]

◆ addLink() [2/3]

◆ publishTransform()

◆ publishTransformIndirect()

◆ storeTransformTree()

◆ registerInterface()

◆ createLink()

◆ notifyTransformerOfLink() [1/2]

◆ notifyTransformerOfLink() [2/2]

◆ prepareTransform() [1/2]

◆ prepareTransform() [2/2]

◆ getTransform() [1/9]

◆ getTransform() [2/9]

◆ getTransform() [3/9]

◆ getTransform() [4/9]

◆ getTransform() [5/9]

◆ getTransform() [6/9]

◆ getTransform() [7/9]

◆ getTransform() [8/9]

◆ getTransform() [9/9]

◆ inferTransform() [1/2]

◆ inferTransform() [2/2]

◆ getNode()

◆ castNode()

◆ addLink() [3/3]

◆ removeLink()

◆ getNodes()

◆ getLinks()

◆ getRootNodes()

◆ getTransformChain()

◆ isTransformAvailable()

◆ addNode()

◆ reflect()

Friends And Related Function Documentation

◆ IFrameworkTransformer< FrameworkTransformer >

Member Data Documentation

◆ MAX_TREE_DEPTH

◆ mNodes