52 #include <blackboard/blackboard.h> 53 #include <interfaces/TransformInterface.h> 54 #include <tf/transform_listener.h> 55 #include <tf/transformer.h> 80 tf_transformer_(tf_transformer),
81 bb_is_remote_(bb_is_remote)
86 std::list<TransformInterface *>::iterator i;
87 for (i = tfifs_.begin(); i != tfifs_.end(); ++i) {
109 std::list<TransformInterface *>::iterator i;
110 for (i = tfifs_.begin(); i != tfifs_.end(); ++i) {
120 if (strncmp(type,
"TransformInterface", INTERFACE_TYPE_SIZE_) != 0)
131 bb_interface_data_changed(tfif);
134 bbil_add_data_interface(tfif);
135 bb_->update_listener(
this);
136 tfifs_.push_back(tfif);
145 unsigned int instance_serial)
throw()
147 conditional_close(interface);
152 unsigned int instance_serial)
throw()
154 conditional_close(interface);
158 TransformListener::conditional_close(
Interface *interface)
throw()
168 std::list<TransformInterface *>::iterator i;
169 for (i = tfifs_.begin(); i != tfifs_.end(); ++i) {
170 if (*interface == **i) {
171 if (!interface->has_writer() && (interface->num_readers() == 1)) {
173 bbil_remove_data_interface(*i);
174 bb_->update_listener(
this);
192 std::string authority;
194 authority =
"remote";
196 std::string authority = tfif->
writer();
200 double * rotation = tfif->
rotation();
202 const std::string frame_id = tfif->
frame();
203 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]);
208 assert_quaternion_valid(r);
virtual void register_observer(BlackBoardInterfaceObserver *observer)
Register BB interface observer.
std::string writer() const
Get owner name of writing interface instance.
Fawkes library namespace.
A class for handling time.
Passed argument was invalid.
virtual void unregister_listener(BlackBoardInterfaceListener *listener)
Unregister BB interface listener.
Base class for all Fawkes BlackBoard interfaces.
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.
const Time * timestamp() const
Get timestamp of last write.
The BlackBoard abstract class.
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.