viam::sdk::PoseTracker Class Reference

A PoseTracker represents a physical pose or motion tracking device. More...

#include "components/pose_tracker.hpp"

Inheritance diagram for viam::sdk::PoseTracker:

Public Types
using	pose_map = std::unordered_map<std::string, pose_in_frame>

Public Member Functions
API	api () const override
	Returns the API associated with a particular resource.
pose_map	get_poses (const std::vector< std::string > &body_names)
	Get the poses of each body tracked by the pose tracker.
virtual pose_map	get_poses (const std::vector< std::string > &body_names, const ProtoStruct &extra)=0
	Get the poses of each body tracked by the pose tracker.
virtual ProtoStruct	do_command (const ProtoStruct &command)=0
	Send/receive arbitrary commands to the resource.
std::vector< GeometryConfig >	get_geometries ()
	Returns GeometryConfigs associated with the calling pose tracker.
virtual std::vector< GeometryConfig >	get_geometries (const ProtoStruct &extra)=0
	Returns GeometryConfigs associated with the calling pose tracker.
Public Member Functions inherited from viam::sdk::Component
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)
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.

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

A PoseTracker represents a physical pose or motion tracking device.

This acts as an abstract base class for any drivers representing specific pose tracker implementations

Member Function Documentation

api()

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

overridevirtual

Returns the API associated with a particular resource.

Implements viam::sdk::Resource.

do_command()

virtual ProtoStruct viam::sdk::PoseTracker::do_command ( const ProtoStruct & command )

pure virtual

Send/receive arbitrary commands to the resource.

Parameters

Command

the command to execute.

Returns

The result of the executed command.

Implemented in viam::sdk::impl::PoseTrackerClient.

get_geometries()

virtual std::vector< GeometryConfig > viam::sdk::PoseTracker::get_geometries ( const ProtoStruct & extra )

pure virtual

Returns GeometryConfigs associated with the calling pose tracker.

Parameters

extra

Any additional arguments to the method

Implemented in viam::sdk::impl::PoseTrackerClient, and viam::sdk::impl::PoseTrackerClient.

get_poses() [1/2]

pose_map viam::sdk::PoseTracker::get_poses ( const std::vector< std::string > & body_names )

inline

Get the poses of each body tracked by the pose tracker.

Parameters

tracker_name	The name of the pose tracker.
body_names	Names of bodies whose poses are being requested. If the vector is empty then all available poses are returned.

Returns

A mapping of each body to its pose.

get_poses() [2/2]

virtual pose_map viam::sdk::PoseTracker::get_poses ( const std::vector< std::string > & body_names, const ProtoStruct & extra )

pure virtual

Get the poses of each body tracked by the pose tracker.

Parameters

tracker_name	The name of the pose tracker.
body_names	Names of bodies whose poses are being requested. If the vector is empty then all available poses are returned.
extra	Any additional arguments to the method.

Returns

A mapping of each body to its pose.

Implemented in viam::sdk::impl::PoseTrackerClient, and viam::sdk::impl::PoseTrackerClient.

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

• src/viam/sdk/components/pose_tracker.hpp