gRPC client implementation of a FrameSystem service. More...

#include <framesystem_client.hpp>

Inheritance diagram for viam::sdk::impl::FrameSystemClient:

Public Types
using	interface_type = FrameSystem

Public Member Functions
	FrameSystemClient (std::string name, const ViamChannel &channel)

const ViamChannel &	channel () const

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

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) override
	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, const std::vector< WorldState::transform > &additional_transforms) override
	Express a pose in a different reference frame.

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

Public Member Functions inherited from viam::sdk::FrameSystem
std::vector< frame_system_config >	get_frame_system_config ()
	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.

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

Additional Inherited Members
Static Public Member Functions inherited from viam::sdk::FrameSystem
static Name	public_name ()
	The full resource name of the machine's frame system. Its short name is kPublicName.

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

Protected Member Functions inherited from viam::sdk::FrameSystem
	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

Protected Attributes inherited from viam::sdk::Resource
LogSource	logger_

Detailed Description

gRPC client implementation of a FrameSystem service.

Member Function Documentation

◆ get_frame_system_config()

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

overridevirtual

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.

Implements viam::sdk::FrameSystem.

◆ get_pose()

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

overridevirtual

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.

Implements viam::sdk::FrameSystem.

◆ transform_pcd()

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

overridevirtual

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.

Implements viam::sdk::FrameSystem.

◆ transform_pose()

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

overridevirtual

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.

Implements viam::sdk::FrameSystem.

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

src/viam/sdk/services/private/framesystem_client.hpp

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ get_frame_system_config()

◆ get_pose()

◆ transform_pcd()

◆ transform_pose()