[Personalrobots-commit] SF.net SVN: personalrobots: [128] pkg/trunk/libTF/simple

[<tf...@us...>]

Revision: 128
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=128&view=rev
Author:   tfoote
Date:     2008-04-17 18:13:41 -0700 (Thu, 17 Apr 2008)

Log Message:
-----------
returning a string instead of directly displaying to the terminal

Modified Paths:
--------------
    pkg/trunk/libTF/simple/libTF.cc
    pkg/trunk/libTF/simple/libTF.hh
    pkg/trunk/libTF/simple/main.cc

Modified: pkg/trunk/libTF/simple/libTF.cc
===================================================================
--- pkg/trunk/libTF/simple/libTF.cc	2008-04-18 00:50:56 UTC (rev 127)
+++ pkg/trunk/libTF/simple/libTF.cc	2008-04-18 01:13:41 UTC (rev 128)
@@ -183,24 +183,25 @@
 }
 
 
-void TransformReference::view(unsigned int target_frame, unsigned int source_frame)
+std::string TransformReference::viewChain(unsigned int target_frame, unsigned int source_frame)
 {
+  stringstream mstream;
   TransformLists lists = lookUpList(target_frame, source_frame);
 
-  std::cout << "Inverse Transforms:" <<std::endl;
+  mstream << "Inverse Transforms:" <<std::endl;
   for (unsigned int i = 0; i < lists.inverseTransforms.size(); i++)
     {
-      std::cout << lists.inverseTransforms[i]<<", ";
+      mstream << lists.inverseTransforms[i]<<", ";
       //      retMat *= getFrame(lists.inverseTransforms[i])->getInverseMatrix();
     }
-  std::cout << std::endl;
+  mstream << std::endl;
 
-  std::cout << "Forward Transforms: "<<std::endl ;
+  mstream << "Forward Transforms: "<<std::endl ;
   for (unsigned int i = 0; i < lists.forwardTransforms.size(); i++) 
     {
-      std::cout << lists.forwardTransforms[i]<<", ";
+      mstream << lists.forwardTransforms[i]<<", ";
       //      retMat *= getFrame(lists.inverseTransforms[lists.forwardTransforms.size() -1 - i])->getMatrix(); //Do this list backwards for it was generated traveling the wrong way
     }
-  std::cout << std::endl;
-  
+  mstream << std::endl;
+  return mstream.str();
 }

Modified: pkg/trunk/libTF/simple/libTF.hh
===================================================================
--- pkg/trunk/libTF/simple/libTF.hh	2008-04-18 00:50:56 UTC (rev 127)
+++ pkg/trunk/libTF/simple/libTF.hh	2008-04-18 01:13:41 UTC (rev 128)
@@ -39,15 +39,23 @@
 #include <math.h>
 #include <vector>
 #include "Quaternion3D.hh"
+#include <sstream>
 
+/** RefFrame *******
+ * An instance of this class is created for each frame in the system.
+ * This class natively handles the relationship between frames.  
+ *
+ * The derived class Quaternion3D provides a buffered history of positions
+ * with interpolation.  
+ */
+
 class RefFrame: public Quaternion3D 
 {
 public:
 
   /* Constructor */
   RefFrame();
-
-  
+ 
   /* Get the parent node */
   inline unsigned int getParent(){return parent;};
 
@@ -60,6 +68,15 @@
 
 };
 
+/*** Transform Reference ***********
+ * This class provides a simple interface to allow recording and lookup of 
+ * relationships between arbitrary frames of the system.
+ * 
+ * The positions of frames over time must be pushed in.  
+ * 
+ * It will provide interpolated positions out given a time argument.
+ */
+
 class TransformReference
 {
 public:
@@ -87,7 +104,7 @@
   // TransformReference::MaxDepthException
 
   /* Debugging function that will print to std::cout the transformation matrix */
-  void view(unsigned int target_frame, unsigned int source_frame);
+  std::string viewChain(unsigned int target_frame, unsigned int source_frame);
   // Possible exceptions TransformReference::LookupException, TransformReference::ConnectivityException, 
   // TransformReference::MaxDepthException
 

Modified: pkg/trunk/libTF/simple/main.cc
===================================================================
--- pkg/trunk/libTF/simple/main.cc	2008-04-18 00:50:56 UTC (rev 127)
+++ pkg/trunk/libTF/simple/main.cc	2008-04-18 01:13:41 UTC (rev 128)
@@ -36,7 +36,7 @@
   //Demonstrate InvalidFrame LookupException
   try
     {
-      mTR.view(10,9);
+      std::cout<< mTR.viewChain(10,9);
     }
   catch (TransformReference::LookupException &ex)
     {
@@ -46,7 +46,7 @@
   
   // See the list of transforms to get between the frames
   std::cout<<"Viewing (10,8):"<<std::endl;  
-  mTR.view(10,8);
+  std::cout << mTR.viewChain(10,8);
   
   
   //See the resultant transform
@@ -62,7 +62,7 @@
   mTR.set(6,7,dx,dy,dz,dyaw,dp,dr,atime);
   
   try {
-    mTR.view(10,8);
+    std::cout<<mTR.viewChain(10,8);
   }
   catch (TransformReference::MaxDepthException &ex)
     {
@@ -73,7 +73,7 @@
   mTR.set(6,0,dx,dy,dz,dyaw,dp,dr,atime);
   
   try {
-    mTR.view(10,8);
+    std::cout<<mTR.viewChain(10,8);
   }
   catch (TransformReference::ConnectivityException &ex)
     {


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