delphyne
Public Member Functions | Protected Member Functions | Static Protected Member Functions | Static Protected Attributes | List of all members
DrakeToIgn< DRAKE_TYPE, IGN_TYPE > Class Template Referenceabstract

Detailed Description

template<class DRAKE_TYPE, class IGN_TYPE>
class delphyne::DrakeToIgn< DRAKE_TYPE, IGN_TYPE >

A system that translates Drake messages on its single input port (which will be discrete or abstract based on the type of the Drake message) to an ignition message on its single abstract output port.

This is a base class that provides the input-output port boilerplate and helper translator functions: derived classes need to implement the actual translation.

Template Parameters
DRAKE_TYPEmust be a valid Drake message type.
IGN_TYPEmust be a valid ignition message type.

#include <src/translations/drake_to_ign.h>

Inheritance diagram for DrakeToIgn< DRAKE_TYPE, IGN_TYPE >:
[legend]

Public Member Functions

template<class T = DRAKE_TYPE>
 DrakeToIgn (int vector_size, typename std::enable_if< std::is_base_of< drake::systems::VectorBase< double >, T >::value, void >::type *=0)
 
template<class T = DRAKE_TYPE>
 DrakeToIgn (typename std::enable_if<!std::is_base_of< drake::systems::VectorBase< double >, T >::value, void >::type *=0)
 

Protected Member Functions

virtual void DoDrakeToIgnTranslation (const DRAKE_TYPE &drake_message, IGN_TYPE *ign_message, int64_t) const =0
 

Static Protected Member Functions

static void PositionArrayToIgnition (const float position[3], ignition::msgs::Vector3d *ign_position)
 
static void QuaternionArrayToIgnition (const float quaternion[4], ignition::msgs::Quaternion *ign_quaternion)
 
static void LcmColorToIgnition (const float lcm_color[4], ignition::msgs::Color *ign_color)
 
static void LcmGeometryToIgnition (const drake::lcmt_viewer_geometry_data &lcm_geometry, ignition::msgs::Geometry *ign_geometry)
 
static void LcmBoxToIgnition (const drake::lcmt_viewer_geometry_data &lcm_box, ignition::msgs::BoxGeom *ign_box)
 
static void LcmSphereToIgnition (const drake::lcmt_viewer_geometry_data &lcm_sphere, ignition::msgs::SphereGeom *ign_sphere)
 
static void LcmCylinderToIgnition (const drake::lcmt_viewer_geometry_data &lcm_cylinder, ignition::msgs::CylinderGeom *ign_cylinder)
 
static void LcmMeshToIgnition (const drake::lcmt_viewer_geometry_data &lcm_mesh, ignition::msgs::MeshGeom *ign_mesh)
 

Static Protected Attributes

static const unsigned int kPositionVectorSize {3}
 
static const unsigned int kOrientationVectorSize {4}
 

Constructor & Destructor Documentation

◆ DrakeToIgn() [1/2]

DrakeToIgn ( int  vector_size,
typename std::enable_if< std::is_base_of< drake::systems::VectorBase< double >, T >::value, void >::type *  = 0 
)

◆ DrakeToIgn() [2/2]

DrakeToIgn ( typename std::enable_if<!std::is_base_of< drake::systems::VectorBase< double >, T >::value, void >::type *  = 0)

Member Function Documentation

◆ DoDrakeToIgnTranslation()

virtual void DoDrakeToIgnTranslation ( const DRAKE_TYPE &  drake_message,
IGN_TYPE *  ign_message,
int64_t   
) const
protectedpure virtual

Implemented in DrakeDrivingCommandToIgn, PoseBundleToAgentState_V, LcmViewerLoadRobotToIgnModelV, and LcmViewerDrawToIgnModelV.

◆ LcmBoxToIgnition()

static void LcmBoxToIgnition ( const drake::lcmt_viewer_geometry_data &  lcm_box,
ignition::msgs::BoxGeom *  ign_box 
)
staticprotected

◆ LcmColorToIgnition()

static void LcmColorToIgnition ( const float  lcm_color[4],
ignition::msgs::Color *  ign_color 
)
staticprotected

◆ LcmCylinderToIgnition()

static void LcmCylinderToIgnition ( const drake::lcmt_viewer_geometry_data &  lcm_cylinder,
ignition::msgs::CylinderGeom *  ign_cylinder 
)
staticprotected

◆ LcmGeometryToIgnition()

static void LcmGeometryToIgnition ( const drake::lcmt_viewer_geometry_data &  lcm_geometry,
ignition::msgs::Geometry *  ign_geometry 
)
staticprotected

◆ LcmMeshToIgnition()

static void LcmMeshToIgnition ( const drake::lcmt_viewer_geometry_data &  lcm_mesh,
ignition::msgs::MeshGeom *  ign_mesh 
)
staticprotected

◆ LcmSphereToIgnition()

static void LcmSphereToIgnition ( const drake::lcmt_viewer_geometry_data &  lcm_sphere,
ignition::msgs::SphereGeom *  ign_sphere 
)
staticprotected

◆ PositionArrayToIgnition()

static void PositionArrayToIgnition ( const float  position[3],
ignition::msgs::Vector3d *  ign_position 
)
staticprotected

◆ QuaternionArrayToIgnition()

static void QuaternionArrayToIgnition ( const float  quaternion[4],
ignition::msgs::Quaternion *  ign_quaternion 
)
staticprotected

Member Data Documentation

◆ kOrientationVectorSize

const unsigned int kOrientationVectorSize {4}
staticprotected

◆ kPositionVectorSize

const unsigned int kPositionVectorSize {3}
staticprotected
The documentation for this class was generated from the following file: