Fawkes API
Fawkes Development Version
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24 #include <interfaces/TransformInterface.h>
26 #include <core/exceptions/software.h>
53 TransformInterface::TransformInterface() : Interface()
55 data_size =
sizeof(TransformInterface_data_t);
57 data = (TransformInterface_data_t *)
data_ptr;
65 unsigned char tmp_hash[] = {0xb6, 0xb0, 0xd3, 0x96, 0xda, 0x61, 0xdd, 0xd3, 0x6, 0x9e, 0x66, 0x4d, 0x14, 0x54, 0x5e, 0xfb};
70 TransformInterface::~TransformInterface()
121 return data->child_frame;
157 return data->static_transform;
194 return data->translation;
211 throw Exception(
"Index value %u out of bounds (0..2)", index);
213 return data->translation[index];
266 return data->rotation;
284 throw Exception(
"Index value %u out of bounds (0..3)", index);
286 return data->rotation[index];
334 "message type for this interface type.",
type);
349 memcpy(data, oi->data,
sizeof(TransformInterface_data_t));
void * data_ptr
Pointer to local memory storage.
Base class for all messages passed through interfaces in Fawkes BlackBoard.
void * data_ptr
Pointer to memory that contains local data.
message_data_ts_t * data_ts
data timestamp aliasing pointer
const char * type() const
Get type of interface.
bool data_changed
Indicator if data has changed.
Fawkes library namespace.
void set_hash(unsigned char *ihash)
Set hash.
unsigned int data_size
Size of memory needed to hold all data.
Base class for all Fawkes BlackBoard interfaces.
void add_fieldinfo(interface_fieldtype_t type, const char *name, size_t length, void *value, const char *enumtype=0, const interface_enum_map_t *enum_map=0)
Add an entry to the info list.
bool change_field(FieldT &field, const DataT &value)
Set a field and return whether it changed.
Base class for exceptions in Fawkes.