52 #include <tf/transform_listener.h>
55 #include <blackboard/blackboard.h>
56 #include <interfaces/TransformInterface.h>
87 std::list<TransformInterface *>::iterator i;
88 for (i = __tfifs.begin(); i != __tfifs.end(); ++i) {
109 std::list<TransformInterface *>::iterator i;
110 for (i = __tfifs.begin(); i != __tfifs.end(); ++i) {
125 return fawkes::tf::resolve(
"", frame_name);
131 if (strncmp(type,
"TransformInterface", __INTERFACE_TYPE_SIZE) != 0)
return;
142 bbil_add_data_interface(tfif);
143 __bb->update_listener(
this);
144 __tfifs.push_back(tfif);
153 unsigned int instance_serial)
156 conditional_close(interface);
162 unsigned int instance_serial)
165 conditional_close(interface);
170 TransformListener::conditional_close(
Interface *interface)
throw()
176 std::list<TransformInterface *>::iterator i;
177 for (i = __tfifs.begin(); i != __tfifs.end(); ++i) {
178 if (*interface == **i) {
179 if (! interface->has_writer() && (interface->num_readers() == 1)) {
181 bbil_remove_data_interface(*i);
182 __bb->update_listener(
this);
201 double *rotation = tfif->
rotation();
203 const std::string frame_id = tfif->
frame();
204 const std::string child_frame_id = tfif->
child_frame();
206 Vector3 t(translation[0], translation[1], translation[2]);
207 Quaternion r(rotation[0], rotation[1], rotation[2], rotation[3]);