A full features transformer class based on GenericTransformer. More...

#include <transform/Transformer.h>

Inheritance diagram for Transformer< T, D, TTransform >:

Public Types
typedef TransformerNode< TTransform< T, D > >	Node
	the node type, which is a TransformerNode More...

typedef Node *	NodePtr
	pointer type to that node More...

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

Public Member Functions
NodePtr	newNode (const std::string &nodeID)
	Creates and adds a new node with the specified id to this transformer. 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...

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
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...

boost::mutex	mMutex
	protects the above node map More...

Detailed Description

template<typename T, int D, template< typename T_, int D_ > class TTransform = RigidTransform>
class mira::Transformer< T, D, TTransform >

A full features transformer class based on GenericTransformer.

This implementation uses instances of TransformerNode as nodes. These nodes have their own data storage for storing the transformation data over time. Hence, this Transformer class can be used separate from the global and central application wide transform framework to generate "private" transform trees and computations.

Member Typedef Documentation

◆ Node

typedef TransformerNode<TTransform<T, D> > Node

the node type, which is a TransformerNode

◆ NodePtr

typedef Node* NodePtr

pointer type to that 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

Member Function Documentation

◆ newNode()

NodePtr newNode ( const std::string & nodeID )

inline

Creates and adds a new node with the specified id to this transformer.

Returns: Returns a pointer to the created node.

◆ 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()

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

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

◆ mMutex

boost::mutex mMutex

protectedinherited

protects the above node map

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

base/include/transform/Transformer.h

Public Types

Public Member Functions

Static Public Attributes

Protected Types

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

template<typename T, int D, template< typename T_, int D_ > class TTransform = RigidTransform> class mira::Transformer< T, D, TTransform >

Member Typedef Documentation

◆ Node

◆ NodePtr

◆ AbstractNodePtr

◆ IDToNodeMap

Member Function Documentation

◆ newNode()

◆ 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()

◆ removeLink()

◆ getNodes()

◆ getLinks()

◆ getRootNodes()

◆ getTransformChain()

◆ isTransformAvailable()

◆ addNode()

Member Data Documentation

◆ MAX_TREE_DEPTH

◆ mNodes

◆ mMutex

template<typename T, int D, template< typename T_, int D_ > class TTransform = RigidTransform>
class mira::Transformer< T, D, TTransform >