#include <prmTransformationManager.h>

Inheritance diagram for prmTransformationManager:

Public Types
typedef std::list < prmTransformationBasePtr >	NodeListType

Static Public Member Functions
static void	Clear ()

static bool	NodeCreatesCycle (const prmTransformationBasePtr &attachPoint, const prmTransformationBasePtr &newFrame)

static bool	NodeCreatesCycle (const std::string &pName, const prmTransformationBasePtr &newFrame)

static vctFrm3	WRTReference (const prmTransformationBasePtr &tipFrame, const prmTransformationBasePtr &refFrame)

static unsigned int	ReplaceReference (const prmTransformationBasePtr &nodePtr, const prmTransformationBasePtr &newReference)

static unsigned int	ReplaceReference (const prmTransformationBasePtr &nodePtr, const std::string &parentName)

static void	ToStreamDot (std::ostream &outputStream)

static void	ToStreamDotHelper (std::ostream &outputStream, prmTransformationBasePtr parent)

static bool	FindPath (const prmTransformationBasePtr &target, const prmTransformationBasePtr &reference)

static bool	FindPathConnectedTree (const prmTransformationBasePtr &target, const prmTransformationBasePtr &reference)

static prmTransformationBasePtr	GetTransformationNodePtr (const std::string pName)

static void	PathToStreamDot (std::ostream &outputStream)

Static Public Attributes
static prmTransformationFixed	TheWorld

Static Protected Member Functions
static bool	Attach (const prmTransformationBasePtr &attachPoint, const prmTransformationBasePtr &newFrame)

static bool	Attach (const std::string &parentName, const prmTransformationBasePtr &newFrame)

static bool	Detach (const prmTransformationBasePtr &frame)

Static Protected Attributes
static NodeListType	Path

static NodeListType	VisitedNodes

static NodeListType	VisitedNodes2

Friends
class	prmTransformationBase

Detailed Description

This class is intended to support computation of relationships between different coordinate systems in a CIS system. The tree consists of nodes (various coordinate systems ) and the edges (static or dynamic transformations between the connected coordinate systems). Transformations between coordinate systems are retrieved using a user provided command.

See Also: mtsCommandRead.

Examples:

setup joints transformation vctFrm3 setupPos; setupPos.Translation() = vct3(10.0, 4.0, 3.0); prmTransformationFixed setupFrame("Setup frame", setupPos);

robot transformation prmTransformationDynamic robotFrame("Robot frame", setupFrame, robot.GetCommandRead("GetTipPosition"));

add a camera defined in world frame vctFrm3 cameraPos; cameraPos.Translation() = vct3(-10.0, 3.4, 5.34); vctRandom(cameraPos.Rotation()); // artificial move! prmTransformationFixed cameraFrame("Camera frame", cameraPos);

Get the position of the camera wrt to the robot std::cout << prmWRTReference(cameraFrame, robotFrame) << std::endl;

Compute the robot motion wrt its base so that the tip moves in the x direction of the camera. vctFrm3 moveWRTCamera; PositionCartesianArg goalArgs;

move.Translation() = vct3(1.0, 0.0, 0.0); vctFrm3 moveWRTRobot = prmWRTReference(cameraFrame, setupFrame) * move; goalArgs.SetGoal(moveWRTRobot); myRobot.MovePositionCart(goalArgs);

Note: There can only be one transformation manager per application, hence this class is implemented as a singleton.

Member Typedef Documentation

typedef std::list<prmTransformationBasePtr> prmTransformationManager::NodeListType

Member Function Documentation

static bool prmTransformationManager::Attach	(	const prmTransformationBasePtr &	attachPoint,
		const prmTransformationBasePtr &	newFrame
	)

staticprotected

Add the frame to the tree in the transformation manager. This method is private and can only be accessed by the "friend" class prmTransformationBase.

Parameters

attachPoint	prmTransformationBasePtr pointer to the new frame
newFrame	prmTransformationBasePtr pointer to parent in the tree

Returns: bool success/failure boolean status.

static bool prmTransformationManager::Attach	(	const std::string &	parentName,
		const prmTransformationBasePtr &	newFrame
	)

staticprotected

static void prmTransformationManager::Clear ( )

static

A method to clean up a transformation tree. Deletes all nodes and restores clean state. This should never need to be used as every node should attach or detach itself. It is primarily meant for testing and debugging purposes.

static bool prmTransformationManager::Detach ( const prmTransformationBasePtr & frame )

staticprotected

Remove the frame from the tree Internally calls ReplaceReference(frame, theWorld).

Parameters

frame prmTransformationBase* pointer to the frame to be discarded.

Returns: bool success/failure code (When do we define status codes?)

static bool prmTransformationManager::FindPath	(	const prmTransformationBasePtr &	target,
		const prmTransformationBasePtr &	reference
	)

static

Helper function for computing transformations. Traverses the tree and stores the path between target and reference in path

Returns: bool true if path exists

static bool prmTransformationManager::FindPathConnectedTree	(	const prmTransformationBasePtr &	target,
		const prmTransformationBasePtr &	reference
	)

static

Helper function for computing transformations. In contrast to above, this assumes a path exists and only merges two traversals from target/reference to tree root

Returns: bool true if path exists

static prmTransformationBasePtr prmTransformationManager::GetTransformationNodePtr ( const std::string pName )

static

Helper function for attaching with names

static bool prmTransformationManager::NodeCreatesCycle	(	const prmTransformationBasePtr &	attachPoint,
		const prmTransformationBasePtr &	newFrame
	)

static

Test if attaching a reference frame at a particular node will introduce a circular dependency. The implementation is a simple depth first search, that returns true if a node is revisited more than once.

Parameters

attachPoint	prmTransformationBasePr new parent
newFrame	prmTransformationBasePtr candidate frame

Returns: bool true if a newFrame node is already present in the tree AND is an ancestor of the attachPoint.

static bool prmTransformationManager::NodeCreatesCycle	(	const std::string &	pName,
		const prmTransformationBasePtr &	newFrame
	)

static

static void prmTransformationManager::PathToStreamDot ( std::ostream & outputStream )

static

Print the path for last reference computation to a graphviz dot file

Returns: void

static unsigned int prmTransformationManager::ReplaceReference	(	const prmTransformationBasePtr &	nodePtr,
		const prmTransformationBasePtr &	newReference
	)

static

Update all frames using a given frame as reference.

May be useful before a call to prmTransformationManager::Detach or its equivalent prmTransformationBase::~prmTransformationBase

Parameters

currentReference	prmTransformationBase* old Reference frame
newReference	prmTransformationBase* new Reference frame

Returns: number of frames modified.

static unsigned int prmTransformationManager::ReplaceReference	(	const prmTransformationBasePtr &	nodePtr,
		const std::string &	parentName
	)

static

static void prmTransformationManager::ToStreamDot ( std::ostream & outputStream )

static

Print the tree to a graphviz dot file

If you have graphviz then "dot -Tjpg -o tree.jpg tree.dot" where tree.dot is the output of this function will print a tree representation of the transformation tree.

Parameters

outputStream std::ostream stream to dump dot file

Returns: void

static void prmTransformationManager::ToStreamDotHelper	(	std::ostream &	outputStream,
		prmTransformationBasePtr	parent
	)

static

Helper function for printing the tree to a graphviz dot file

Returns: void

static vctFrm3 prmTransformationManager::WRTReference	(	const prmTransformationBasePtr &	tipFrame,
		const prmTransformationBasePtr &	refFrame
	)

static

Compute the transformation between two frames (WRT = With Respect To). The computation will use registered get mtsCommandRead methods for the nodes on the path from node refFrame to node tipFrame. The implementation is a breadth first search from refFrame to tipFrame.

Parameters

tipFrame	prmTransformationBasePtr the frame transform to be computed
refFrame	prmTransformationBasePtr the reference frame chosen

Returns: vctFrame3 homogenous transform representing current relationship between tipFrame and refFrame.

Friends And Related Function Documentation

friend class prmTransformationBase

friend

Member Data Documentation

NodeListType prmTransformationManager::Path

staticprotected

List of modes on the last transformation computed.

prmTransformationFixed prmTransformationManager::TheWorld

static

Frame used as reference for all other frames, root of the tree. All other frames are attached/detached by application code.

NodeListType prmTransformationManager::VisitedNodes

staticprotected

Tree traversal helper

NodeListType prmTransformationManager::VisitedNodes2

staticprotected

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

/home/adeguet1/catkin_ws/src/cisst-saw/cisst/cisstParameterTypes/prmTransformationManager.h

Public Types

Static Public Member Functions

Static Public Attributes

Static Protected Member Functions

Static Protected Attributes

Friends

Detailed Description

Member Typedef Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation