iLab Neuromorphic Robotics Toolkit  0.1
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TransformMessage.H
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1 /*! @file
2  author Unknown
3  @copyright GNU Public License (GPL v3)
4  @section License
5  @verbatim
6  // ////////////////////////////////////////////////////////////////////////
7  // The iLab Neuromorphic Robotics Toolkit (NRT) //
8  // Copyright 2010-2012 by the University of Southern California (USC) //
9  // and the iLab at USC. //
10  // //
11  // iLab - University of Southern California //
12  // Hedco Neurociences Building, Room HNB-10 //
13  // Los Angeles, Ca 90089-2520 - USA //
14  // //
15  // See http://ilab.usc.edu for information about this project. //
16  // ////////////////////////////////////////////////////////////////////////
17  // This file is part of The iLab Neuromorphic Robotics Toolkit. //
18  // //
19  // The iLab Neuromorphic Robotics Toolkit is free software: you can //
20  // redistribute it and/or modify it under the terms of the GNU General //
21  // Public License as published by the Free Software Foundation, either //
22  // version 3 of the License, or (at your option) any later version. //
23  // //
24  // The iLab Neuromorphic Robotics Toolkit is distributed in the hope //
25  // that it will be useful, but WITHOUT ANY WARRANTY; without even the //
26  // implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR //
27  // PURPOSE. See the GNU General Public License for more details. //
28  // //
29  // You should have received a copy of the GNU General Public License //
30  // along with The iLab Neuromorphic Robotics Toolkit. If not, see //
31  // <http://www.gnu.org/licenses/>. //
32  // ////////////////////////////////////////////////////////////////////////
33  @endverbatim */
34 #ifndef INCLUDE_NRT_ROBOTICS_MESSAGES_TRANSFORMMESSAGE_H
35 #define INCLUDE_NRT_ROBOTICS_MESSAGES_TRANSFORMMESSAGE_H
36 
38 #include <nrt/Eigen/Eigen.H>
41 
42 #include <nrt/External/cereal/types/string.hpp>
43 
44 namespace nrt
45 {
46  #define NRT_DECLARE_TRANSFORM_UPDATE_PORT( port_name ) \
47  NRT_DECLARE_MESSAGEPOSTER_PORT( port_name, nrt::TransformMessage, void, "Outgoing transforms to register with the TransformManager" );
48 
49  NRT_DECLARE_MESSAGE( TransformMessage )
50  {
51  public:
52  nrt::TimeStampMessage timestamp;
53 
54  std::string fromFrameId;
55  std::string toFrameId;
56 
57  Eigen::Affine3d transform;
58 
59  TransformMessage(
60  const decltype( timestamp ) & timestamp_ = decltype( timestamp )(),
61  const decltype( fromFrameId ) & fromFrameId_ = decltype( fromFrameId )(),
62  const decltype( toFrameId ) & toFrameId_ = decltype( toFrameId )(),
63  const decltype( transform ) & transform_ = decltype( transform )() )
64  :
65  timestamp( timestamp_ ),
66  fromFrameId( fromFrameId_ ),
67  toFrameId( toFrameId_ ),
68  transform( transform_ )
69  {
70  }
71 
72  template<class Archive>
73  inline void serialize( Archive& ar )
74  {
75  ar( timestamp, fromFrameId, toFrameId, transform );
76  }
77  };
78 
79  //! Human-readable output to a stream: outputs fromFrameId -> toFrameId (x,y,z)
80  std::ostream& operator<<( std::ostream & out, nrt::TransformMessage const & msg );
81 
82 }
83 
85 
86 #endif // INCLUDE_NRT_ROBOTICS_MESSAGES_TRANSFORMMESSAGE_H