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]);
virtual void register_observer(BlackBoardInterfaceObserver *observer)
Register BB interface observer.
A class for handling time.
virtual void unregister_listener(BlackBoardInterfaceListener *listener)
Unregister BB interface listener.
Base class for all Fawkes BlackBoard interfaces.
const Time * timestamp() const
Get timestamp of last write.
virtual void register_listener(BlackBoardInterfaceListener *listener, ListenerRegisterFlag flag=BBIL_FLAG_ALL)
Register BB event listener.
void bbio_add_observed_create(const char *type_pattern, const char *id_pattern="*")
Add interface creation type to watch list.
Base class for exceptions in Fawkes.
void read()
Read from BlackBoard into local copy.
virtual void unregister_observer(BlackBoardInterfaceObserver *observer)
Unregister BB interface observer.
The BlackBoard abstract class.
virtual std::list< Interface * > open_multiple_for_reading(const char *type_pattern, const char *id_pattern="*")=0
Open multiple interfaces for reading.
BlackBoard interface listener.
void bbil_add_data_interface(Interface *interface)
Add an interface to the data modification watch list.
virtual void close(Interface *interface)=0
Close interface.