[Personalrobots-commit] SF.net SVN: personalrobots: [210] pkg/trunk/libTF

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

Revision: 210
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=210&view=rev
Author:   tfoote
Date:     2008-04-28 08:46:01 -0700 (Mon, 28 Apr 2008)

Log Message:
-----------
adding time to constructor and documenting. ticket:21

Modified Paths:
--------------
    pkg/trunk/libTF/doc/libTF_Manual.tex
    pkg/trunk/libTF/include/libTF/libTF.h
    pkg/trunk/libTF/src/simple/libTF.cpp

Modified: pkg/trunk/libTF/doc/libTF_Manual.tex
===================================================================
--- pkg/trunk/libTF/doc/libTF_Manual.tex	2008-04-28 14:05:55 UTC (rev 209)
+++ pkg/trunk/libTF/doc/libTF_Manual.tex	2008-04-28 15:46:01 UTC (rev 210)
@@ -108,6 +108,26 @@
 
 \subsection{libTF API}
 \index{libTF API}
+The class which provides external functionality is named TransformReference.  
+
+\subsubsection{Data Types}
+\begin{verbatim}
+typedef unsigned long long ULLtime;
+\end{verbatim}
+
+\texttt{ULLtime} provides a simple typedef for the timestamp used in this library. 
+\texttt{ULLtime} is the number of nanoseconds since the epoch(1970) expressed as 
+an unsigned long long, which should be equivilant to a \texttt{uint64\_t}. 
+
+\subsubsection{Constructor}
+\index{libTF API!Constructor}
+\begin{verbatim}
+TransformReference(ULLtime cache_time = DEFAULT_CACHE_TIME);
+\end{verbatim}
+This is the constructor for the class.  It's optional argument is 
+how long to keep a history of the transforms.  It is expressed in 
+\texttt{ULLtime}, nanoseconds since the epoch(1970).  
+
 \subsubsection{Mutators}
 
 \paragraph{setWithEulers}
@@ -159,14 +179,6 @@
                       unsigned int source_frame);
 \end{verbatim}
 
-\subsubsection{Constructor}
-\index{libTF API!Constructor}
-\begin{verbatim}
-TransformReference();
-\end{verbatim}
-\todo{add max time default argument}
-
-
 \section{ROS Integration}
 
 unimplemented

Modified: pkg/trunk/libTF/include/libTF/libTF.h
===================================================================
--- pkg/trunk/libTF/include/libTF/libTF.h	2008-04-28 14:05:55 UTC (rev 209)
+++ pkg/trunk/libTF/include/libTF/libTF.h	2008-04-28 15:46:01 UTC (rev 210)
@@ -83,6 +83,9 @@
 class TransformReference
 {
 public:
+  // A typedef for clarity
+  typedef unsigned long long ULLtime;
+
   /************* Constants ***********************/
   static const unsigned int ROOT_FRAME = 1;  //Hard Value for ROOT_FRAME
   static const unsigned int NO_PARENT = 0;  //Value for NO_PARENT
@@ -90,10 +93,11 @@
   static const unsigned int MAX_NUM_FRAMES = 100;   /* The maximum number of frames possible */
   static const unsigned int MAX_GRAPH_DEPTH = 100;   /* The maximum number of times to descent before determining that graph has a loop. */
 
-  typedef unsigned long long ULLtime;
+  static const ULLtime DEFAULT_CACHE_TIME = 10 * 1000000000ULL; //10 seconds in nanoseconds
 
+
   /* Constructor */
-  TransformReference();
+  TransformReference(ULLtime cache_time = DEFAULT_CACHE_TIME);
 
   /********** Mutators **************/
   /* Set a new frame or update an old one. */
@@ -157,6 +161,8 @@
    * The frames will be dynamically allocated at run time when set the first time. */
   RefFrame* frames[MAX_NUM_FRAMES];
 
+  // How long to cache transform history
+  ULLtime cache_time;
 
   /* This struct is how the list of transforms are stored before being passed to computeTransformFromList. */
   typedef struct 

Modified: pkg/trunk/libTF/src/simple/libTF.cpp
===================================================================
--- pkg/trunk/libTF/src/simple/libTF.cpp	2008-04-28 14:05:55 UTC (rev 209)
+++ pkg/trunk/libTF/src/simple/libTF.cpp	2008-04-28 15:46:01 UTC (rev 210)
@@ -40,7 +40,8 @@
 }
 
 
-TransformReference::TransformReference()
+TransformReference::TransformReference(ULLtime cache_time):
+  cache_time(cache_time)
 {
   /* initialize pointers to NULL */
   for (unsigned int i = 0; i < MAX_NUM_FRAMES; i++)


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