The machine's frame system: the tree of reference frames viam-server builds from the frame config of every resource. Use it to find where a component is and to move poses and point clouds between frames. More...

#include "services/framesystem.hpp"

Inheritance diagram for viam::sdk::FrameSystem:

Classes
struct	frame_system_config
	One frame of the frame system, with the kinematics of the resource it belongs to. More...

Public Member Functions
std::vector< frame_system_config >	get_frame_system_config ()
	Get the configuration of every frame in the frame system.

virtual std::vector< frame_system_config >	get_frame_system_config (const std::vector< WorldState::transform > &additional_transforms)=0
	Get the configuration of every frame in the frame system.

pose_in_frame	get_pose (const std::string &component_name)
	Get the pose of a component in the world reference frame.

pose_in_frame	get_pose (const std::string &component_name, const std::string &destination_frame, const std::vector< WorldState::transform > &supplemental_transforms)
	Get the pose of a component in the desired reference frame.

virtual pose_in_frame	get_pose (const std::string &component_name, const std::string &destination_frame, const std::vector< WorldState::transform > &supplemental_transforms, const ProtoStruct &extra)=0
	Get the pose of a component in the desired reference frame.

pose_in_frame	transform_pose (const pose_in_frame &query, const std::string &destination)
	Express a pose in a different reference frame.

virtual pose_in_frame	transform_pose (const pose_in_frame &query, const std::string &destination, const std::vector< WorldState::transform > &additional_transforms)=0
	Express a pose in a different reference frame.

virtual std::vector< unsigned char >	transform_pcd (const std::vector< unsigned char > &pcd, const std::string &source, const std::string &destination)=0
	Express a point cloud in a different reference frame.

API	api () const override
	Returns the `API` associated with a particular resource.

Public Member Functions inherited from viam::sdk::Service
Name	get_resource_name () const override
	Returns the `Name` for a particular resource.

Public Member Functions inherited from viam::sdk::Resource
	Resource (std::string name)

	Resource (const ResourceConfig &cfg)
	Construct from a resource config. Use this overload to ensure Viam App log filtering works immediately during object construction.

virtual std::string	name () const
	Return the resource's name.

void	set_log_level (log_level) const
	Set the log level for log messages originating from this Resource.

Static Public Member Functions
static Name	public_name ()
	The full resource name of the machine's frame system. Its short name is kPublicName.

Static Public Attributes
static const std::string	kPublicName
	The reserved name viam-server publishes the machine's frame system under.

Protected Member Functions
	FrameSystem (std::string name)

	FrameSystem (const ResourceConfig &cfg)

Protected Member Functions inherited from viam::sdk::Service
	Service (std::string name)

	Service (const ResourceConfig &cfg)

Protected Member Functions inherited from viam::sdk::Resource
Name	get_resource_name (const std::string &type) const

Additional Inherited Members
Protected Attributes inherited from viam::sdk::Resource
LogSource	logger_

Detailed Description

The machine's frame system: the tree of reference frames viam-server builds from the frame config of every resource. Use it to find where a component is and to move poses and point clouds between frames.

viam-server owns one frame system per machine and publishes it under the reserved name $framesystem. A modular resource finds it in its Dependencies under that name, and RobotClient::resource_by_name hands it out under that name too. It is never listed in RobotClient::resource_names.

Member Function Documentation

◆ api()

API viam::sdk::FrameSystem::api ( ) const

overridevirtual

Returns the API associated with a particular resource.

Implements viam::sdk::Resource.

◆ get_frame_system_config()

virtual std::vector< frame_system_config > viam::sdk::FrameSystem::get_frame_system_config ( const std::vector< WorldState::transform > & additional_transforms )

pure virtual

Get the configuration of every frame in the frame system.

Parameters

additional_transforms Extra frames to add to the frame system for this call only.

Implemented in viam::sdk::impl::FrameSystemClient.

◆ get_pose() [1/3]

pose_in_frame viam::sdk::FrameSystem::get_pose ( const std::string & component_name )

inline

Get the pose of a component in the world reference frame.

Parameters

component_name The component whose pose is being requested.

◆ get_pose() [2/3]

pose_in_frame viam::sdk::FrameSystem::get_pose	(	const std::string &	component_name,
		const std::string &	destination_frame,
		const std::vector< WorldState::transform > &	supplemental_transforms )

inline

Get the pose of a component in the desired reference frame.

Parameters

component_name	The component whose pose is being requested.
destination_frame	The reference frame in which to express the pose.
supplemental_transforms	Extra frames needed to compute the pose.

◆ get_pose() [3/3]

virtual pose_in_frame viam::sdk::FrameSystem::get_pose	(	const std::string &	component_name,
		const std::string &	destination_frame,
		const std::vector< WorldState::transform > &	supplemental_transforms,
		const ProtoStruct &	extra )

pure virtual

Get the pose of a component in the desired reference frame.

Parameters

component_name	The component whose pose is being requested.
destination_frame	The reference frame in which to express the pose.
supplemental_transforms	Extra frames needed to compute the pose.
extra	Any additional arguments to the method.

Implemented in viam::sdk::impl::FrameSystemClient.

◆ transform_pcd()

virtual std::vector< unsigned char > viam::sdk::FrameSystem::transform_pcd	(	const std::vector< unsigned char > &	pcd,
		const std::string &	source,
		const std::string &	destination )

pure virtual

Express a point cloud in a different reference frame.

Parameters

pcd	The point cloud, serialized in PCD format.
source	The reference frame the point cloud is currently expressed in.
destination	The reference frame to express the point cloud in.

Returns: The transformed point cloud, serialized in PCD format as raw PCD bytes.

Implemented in viam::sdk::impl::FrameSystemClient.

◆ transform_pose() [1/2]

pose_in_frame viam::sdk::FrameSystem::transform_pose	(	const pose_in_frame &	query,
		const std::string &	destination )

inline

Express a pose in a different reference frame.

Parameters

query	The pose to transform, with the frame it is currently expressed in.
destination	The reference frame to express the pose in.

◆ transform_pose() [2/2]

virtual pose_in_frame viam::sdk::FrameSystem::transform_pose	(	const pose_in_frame &	query,
		const std::string &	destination,
		const std::vector< WorldState::transform > &	additional_transforms )

pure virtual

Express a pose in a different reference frame.

Parameters

query	The pose to transform, with the frame it is currently expressed in.
destination	The reference frame to express the pose in.
additional_transforms	Extra frames needed to compute the transform.

Implemented in viam::sdk::impl::FrameSystemClient.

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

src/viam/sdk/services/framesystem.hpp

Classes

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ api()

◆ get_frame_system_config()

◆ get_pose() [1/3]

◆ get_pose() [2/3]

◆ get_pose() [3/3]

◆ transform_pcd()

◆ transform_pose() [1/2]

◆ transform_pose() [2/2]