22 #ifndef _PLUGINS_CLIPS_TF_CLIPS_TF_THREAD_H_
23 #define _PLUGINS_CLIPS_TF_CLIPS_TF_THREAD_H_
25 #include <aspect/configurable.h>
26 #include <aspect/logging.h>
27 #include <aspect/tf.h>
28 #include <core/threading/thread.h>
29 #include <plugins/clips/aspect/clips_feature.h>
62 bool validate_time(
const CLIPS::Values &time);
64 bool validate_point(
const CLIPS::Values &point);
65 bool validate_vector3(
const CLIPS::Values &vector3);
66 bool validate_quat(
const CLIPS::Values &quat);
68 CLIPS::Values clips_tf_quat_from_yaw(
double yaw);
69 double clips_tf_yaw_from_quat(CLIPS::Values quat);
71 CLIPS::Value clips_tf_frame_exists(std::string frame_id);
73 clips_tf_can_transform(std::string target_frame, std::string source_frame, CLIPS::Values time);
74 CLIPS::Values clips_tf_transform_point(std::string target_frame,
75 std::string source_frame,
78 CLIPS::Values clips_tf_transform_vector(std::string target_frame,
79 std::string source_frame,
81 CLIPS::Values vector);
82 CLIPS::Values clips_tf_transform_quaternion(std::string target_frame,
83 std::string source_frame,
87 CLIPS::Values clips_tf_transform_pose(std::string target_frame,
88 std::string source_frame,
90 CLIPS::Values translation,
91 CLIPS::Values rotation_quat);
94 std::map<std::string, fawkes::LockPtr<CLIPS::Environment>> envs_;