52 #include <blackboard/blackboard.h>
53 #include <interfaces/TransformInterface.h>
54 #include <tf/transform_listener.h>
55 #include <tf/transformer.h>
80 tf_transformer_(tf_transformer),
81 bb_is_remote_(bb_is_remote)
86 std::list<TransformInterface *>::iterator i;
87 for (i = tfifs_.begin(); i != tfifs_.end(); ++i) {
109 std::list<TransformInterface *>::iterator i;
110 for (i = tfifs_.begin(); i != tfifs_.end(); ++i) {
120 if (strncmp(type,
"TransformInterface", INTERFACE_TYPE_SIZE_) != 0)
131 bb_interface_data_refreshed(tfif);
134 bbil_add_data_interface(tfif);
135 bb_->update_listener(
this);
136 tfifs_.push_back(tfif);
146 conditional_close(interface);
152 conditional_close(interface);
156 TransformListener::conditional_close(
Interface *interface) noexcept
166 std::list<TransformInterface *>::iterator i;
167 for (i = tfifs_.begin(); i != tfifs_.end(); ++i) {
168 if (*interface == **i) {
169 if (!interface->has_writer() && (interface->num_readers() == 1)) {
171 bbil_remove_data_interface(*i);
172 bb_->update_listener(
this);
190 std::string authority;
192 authority =
"remote";
194 std::string authority = tfif->
writer();
198 double * rotation = tfif->
rotation();
200 const std::string frame_id = tfif->
frame();
201 const std::string child_frame_id = tfif->
child_frame();
204 Vector3 t(translation[0], translation[1], translation[2]);
205 Quaternion r(rotation[0], rotation[1], rotation[2], rotation[3]);
206 assert_quaternion_valid(r);
BlackBoard interface listener.
void bbil_add_data_interface(Interface *interface)
Add an interface to the data modification watch list.
void bbio_add_observed_create(const char *type_pattern, const char *id_pattern="*") noexcept
Add interface creation type to watch list.
The BlackBoard abstract class.
virtual void unregister_observer(BlackBoardInterfaceObserver *observer)
Unregister BB interface observer.
virtual void register_observer(BlackBoardInterfaceObserver *observer)
Register BB interface observer.
virtual void unregister_listener(BlackBoardInterfaceListener *listener)
Unregister BB interface listener.
virtual std::list< Interface * > open_multiple_for_reading(const char *type_pattern, const char *id_pattern="*", const char *owner=NULL)=0
Open multiple interfaces for reading.
virtual void register_listener(BlackBoardInterfaceListener *listener, ListenerRegisterFlag flag=BBIL_FLAG_ALL)
Register BB event listener.
virtual void close(Interface *interface)=0
Close interface.
Base class for exceptions in Fawkes.
Base class for all Fawkes BlackBoard interfaces.
std::string writer() const
Get owner name of writing interface instance.
const Time * timestamp() const
Get timestamp of last write.
void read()
Read from BlackBoard into local copy.
A class for handling time.
A convenience class for universally unique identifiers (UUIDs).
Passed argument was invalid.
Fawkes library namespace.