referenceFrameHandler

Reference Frame Handler Version:1.0. More...

Collaboration diagram for referenceFrameHandler:

Classes
struct	FrameInfo
class	FrameHandlerModule

Detailed Description

Reference Frame Handler Version:1.0.

Author

Stéphane Lallée steph.nosp@m.ane..nosp@m.lalle.nosp@m.e@gm.nosp@m.ail.c.nosp@m.om

Copyright

Released under the terms of the GNU GPL v2.0

Description

Module responsible for handling the conversion between multiple reference frame (e.g multiple kinects, tactile table, etc)

Parameters

• –name: To specify the module's name; all the open ports will be tagged with the prefix /name
• –matricesFile: file to be used for loading/saving purposes of the matrices
• –empty: starts the module without trying to load matrices from the file. (they can still be saved afterward)
• –verbose: To specify if debug information should be printed

Input Ports

Output Ports

Services

• /referenceFrameHandler/rpc [rpc-server]: It is the way to interact with the module. Commands are:
  "add frameName (x y z) (x' y' z')": add a calibration pair (xyz in frameName's reference, x'y'z' in iCub pivot reference); reply is [ack/nack].
  "cal frameName": calibrate and find the transformation matrix between frameName's reference and iCub pivot reference; reply is [ack].
  "scal frameName": calibrate and find H and S between frameName's reference and iCub pivot reference; reply is [ack].
  "trans frameName1 frameName2 (x y z)": transform the point (x y z) given in frameName1's reference into the frameName2's reference; reply is [ack] (x' y' z') (e.g : trans kinect reactable (0 0 0) Will return the position of the origin of the kinect reference into the reactable reference).
  "mat frameName1 frameName2": get the transformation matrix from frameName1 to frameName2; reply is ack.
  "smat frameName1 frameName2": set the transformation matrix from frameName1 to frameName2; reply is [ack].
  "save": save all the calibrated frames to a file; reply is [ack] filePath.
  "opcr": read all the frames contained in the OPC; reply is [ack].
  "opcw": write all the calibrated frames to the OPC; reply is [ack].

  . This service is described in ()

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Class Documentation

FrameInfo

struct FrameInfo

Definition at line 44 of file main.cpp.

Class Members
double	calibrationError
CalibReferenceWithMatchedPoints	calibrator
Matrix	H
Matrix	HInv
bool	isCalibrated
string	name
Matrix	S
Matrix	SInv

FrameHandlerModule

class FrameHandlerModule

Definition at line 56 of file main.cpp.

Inheritance diagram for FrameHandlerModule:

Public Member Functions
	FrameHandlerModule ()
bool	configure (ResourceFinder &rf)
Matrix	inverseScale (const Matrix &in)
	Inverts the scale of the provided matrix. More...
void	LoadMatrices (Property &prop)
	LoadMatrices - reads the matrices from the specified matricesFile file. More...
void	SaveMatrices (const string &fileName)
	Saves the matrices to a file; this file can later be loaded using LoadMatrices More...
void	LoadMatricesFromOPC ()
	Loads the calibration matrices from the OPC. More...
void	SaveMatrices2OPC ()
	Saves the calibration matrices to the OPC. More...
bool	respond (const Bottle &cmd, Bottle &reply)
bool	interruptModule ()
bool	close ()
bool	updateModule ()
double	getPeriod ()

Constructor & Destructor Documentation

FrameHandlerModule()

FrameHandlerModule::FrameHandlerModule ( )

inline

Definition at line 69 of file main.cpp.

Member Function Documentation

close()

bool FrameHandlerModule::close ( )

inline

Definition at line 734 of file main.cpp.

configure()

bool FrameHandlerModule::configure ( ResourceFinder &  rf )

inline

Definition at line 73 of file main.cpp.

getPeriod()

double FrameHandlerModule::getPeriod ( )

inline

Definition at line 750 of file main.cpp.

interruptModule()

bool FrameHandlerModule::interruptModule ( )

inline

Definition at line 726 of file main.cpp.

inverseScale()

Matrix FrameHandlerModule::inverseScale ( const Matrix &  in )

inline

Inverts the scale of the provided matrix.

Parameters

in	- input matrix

Returns

Matrix with inverted scale

Definition at line 121 of file main.cpp.

LoadMatrices()

void FrameHandlerModule::LoadMatrices ( Property &  prop )

inline

LoadMatrices - reads the matrices from the specified matricesFile file.

Use SaveMatrices to write this file in the proper format.

Definition at line 133 of file main.cpp.

LoadMatricesFromOPC()

void FrameHandlerModule::LoadMatricesFromOPC ( )

inline

Loads the calibration matrices from the OPC.

Deprecated:

This is not supported anymore and may be removed in future versions

Definition at line 225 of file main.cpp.

respond()

bool FrameHandlerModule::respond ( const Bottle &  cmd, Bottle &  reply  )

inline

Definition at line 372 of file main.cpp.

SaveMatrices()

void FrameHandlerModule::SaveMatrices ( const string &  fileName )

inline

Saves the matrices to a file; this file can later be loaded using LoadMatrices

Parameters

fileName

- absolute path to the file

Definition at line 178 of file main.cpp.

SaveMatrices2OPC()

void FrameHandlerModule::SaveMatrices2OPC ( )

inline

Saves the calibration matrices to the OPC.

Deprecated:

This is not supported anymore and may be removed in future versions

Definition at line 299 of file main.cpp.

updateModule()

bool FrameHandlerModule::updateModule ( )

inline

Definition at line 744 of file main.cpp.