InterlocManager Class Reference

#include <InterlocManager.h>

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Public Member Functions
	InterlocManager (ILogger &logger, INotificationQueue< InterlocUpdate > &interlocUpdateQueue)
	~InterlocManager () override=default
void	startInterloc () override
	Dummy function to demonstrate working DW1000s. More...
void	setInterlocManagerState (InterlocStateDTO state) override
void	configureTWRCalibration (uint16_t distanceCalibCm) override
	Sets the targeted distance for calibration. More...
void	configureAngleCalibration (uint32_t numberOfFrames) override
	Sets the number of frames to accumulate when in angle calibration mode. More...
void	setInterlocManagerStateChangeCallback (interlocManagerStateChangeCallbackFunction_t callback, void *context) override
void	setInterlocManagerRawAngleDataCallback (interlocRawAngleDataCallbackFunction_t callback, void *context) override
void	updateAngleCalculatorParameters (const ConfigureAngleParametersDTO &newParams) override
Public Member Functions inherited from IInterlocManager
virtual	~IInterlocManager ()=default

Private Member Functions
void	gazeboUpdateCallback (const gazebo_msgs::ModelStates &msg)
std::optional< geometry_msgs::TransformStamped >	getHiveBoardTransform (const std::string &agentName)

Static Private Member Functions
static tf2::Stamped< tf2::Transform >	getHiveboardTf (const geometry_msgs::Pose &poseWorldFrame, const geometry_msgs::TransformStamped &hiveboardToRobotTf)
static double	getDistance (const tf2::Transform &transform)
static double	getRelativeOrientation (const tf2::Transform &transform)
static double	getAngleOfArrival (const tf2::Transform &agentToAgentTransform)

Private Attributes
ILogger &	m_logger
ros::Subscriber	m_sub
uint	m_interlocRefreshDelayMs
std::map< uint16_t, geometry_msgs::TransformStamped >	m_baseLinkToHiveBoardTransforms
tf2_ros::Buffer	m_tfBuffer
tf2_ros::TransformListener	m_tfListener
INotificationQueue< InterlocUpdate > &	m_interlocUpdateQueue

Constructor & Destructor Documentation

InterlocManager()

InterlocManager::InterlocManager	(	ILogger &	logger,
		INotificationQueue< InterlocUpdate > &	interlocUpdateQueue
	)

~InterlocManager()

InterlocManager::~InterlocManager ( )

overridedefault

Member Function Documentation

configureAngleCalibration()

void InterlocManager::configureAngleCalibration ( uint32_t  numberOfFrames )

overridevirtual

Sets the number of frames to accumulate when in angle calibration mode.

Parameters

numberOfFrames

Number of frames to accumulate

Implements IInterlocManager.

configureTWRCalibration()

void InterlocManager::configureTWRCalibration ( uint16_t  distanceCalibCm )

overridevirtual

Sets the targeted distance for calibration.

Parameters

distanceCalibCm

Distance between the devices in calibration mode

Implements IInterlocManager.

gazeboUpdateCallback()

void InterlocManager::gazeboUpdateCallback ( const gazebo_msgs::ModelStates &  msg )

private

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getAngleOfArrival()

double InterlocManager::getAngleOfArrival ( const tf2::Transform &  agentToAgentTransform )

staticprivate

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getDistance()

double InterlocManager::getDistance ( const tf2::Transform &  transform )

staticprivate

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getHiveboardTf()

tf2::Stamped< tf2::Transform > InterlocManager::getHiveboardTf ( const geometry_msgs::Pose &  poseWorldFrame, const geometry_msgs::TransformStamped &  hiveboardToRobotTf  )

staticprivate

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getHiveBoardTransform()

std::optional< geometry_msgs::TransformStamped > InterlocManager::getHiveBoardTransform ( const std::string &  agentName )

private

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getRelativeOrientation()

static double InterlocManager::getRelativeOrientation ( const tf2::Transform &  transform )

staticprivate

setInterlocManagerRawAngleDataCallback()

void InterlocManager::setInterlocManagerRawAngleDataCallback ( interlocRawAngleDataCallbackFunction_t  callback, void *  context  )

overridevirtual

Sets the callback to call when a raw angle data is sent back to the PC

Parameters

callback	Callback
context	Context to pass the callback

Implements IInterlocManager.

setInterlocManagerState()

void InterlocManager::setInterlocManagerState ( InterlocStateDTO  state )

overridevirtual

Implements IInterlocManager.

setInterlocManagerStateChangeCallback()

void InterlocManager::setInterlocManagerStateChangeCallback ( interlocManagerStateChangeCallbackFunction_t  callback, void *  context  )

overridevirtual

Sets the callback to call when a state change occurs in the interloc manager

Parameters

callback	Callback
context	Context to pass the callback

Implements IInterlocManager.

startInterloc()

void InterlocManager::startInterloc ( )

overridevirtual

Dummy function to demonstrate working DW1000s.

Implements IInterlocManager.

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updateAngleCalculatorParameters()

void InterlocManager::updateAngleCalculatorParameters ( const ConfigureAngleParametersDTO &  newParams )

overridevirtual

Updates the parameters used to calculate an angle

Parameters

newParams

DTO to save as new parameters

Implements IInterlocManager.

Member Data Documentation

m_baseLinkToHiveBoardTransforms

std::map<uint16_t, geometry_msgs::TransformStamped> InterlocManager::m_baseLinkToHiveBoardTransforms

private

m_interlocRefreshDelayMs

uint InterlocManager::m_interlocRefreshDelayMs

private

m_interlocUpdateQueue

INotificationQueue<InterlocUpdate>& InterlocManager::m_interlocUpdateQueue

private

m_logger

ILogger& InterlocManager::m_logger

private

m_sub

ros::Subscriber InterlocManager::m_sub

private

m_tfBuffer

tf2_ros::Buffer InterlocManager::m_tfBuffer

private

m_tfListener

tf2_ros::TransformListener InterlocManager::m_tfListener

private

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

• src/bsp/src/posix/include/InterlocManager.h
• src/bsp/src/posix/src/InterlocManager.cpp