rct-java

Robotics Coordinate Transform (Java)

Installation

mvn package install

Usage

Sending Transforms

public static void main(String[] args) {

    // Get the rct factory
    TransformerFactory factory = TransformerFactory.getInstance();

    // Create the publisher object
    TransformPublisher publisher = factory.createTransformPublisher("example");

    // Create the mathematical homogeneous transformation (rotation, translation, scale)
    Quat4f rotation = new Quat4f(1, 0, 0, 1);
    Vector3d translation = new Vector3d(1, 2, 3);
    Transform3D transform = new Transform3D(rotation, translation, 1.0);

    // Create the rct transform object with source and target frames
    Transform t = new Transform(transform, "foo", "bar", System.currentTimeMillis());

    // Publish the transform object
    publisher.sendTransform(t, TransformType.STATIC);
}

Receiving Transforms Synchronously

private TransformReceiver receiver;

public static void main(String[] args) {

    // Get the rct factory
    TransformerFactory factory = TransformerFactory.getInstance();

    // Create a receiver object. Should be live as long as the application runs
    receiver = factory.createTransformReceiver();

    // The receiver needs some time to receive the coordinate system tree
    doStuff();

    // Lookup the transform
    Transform t = transformer.lookupTransform("foo", "bar", System.currentTimeMillis());

    System.out.println(t);
}

Receiving Transforms Asynchronously

private TransformReceiver receiver;

public static void main(String[] args) {

    // Get the rct factory
    TransformerFactory factory = TransformerFactory.getInstance();

    // Create a receiver object. Should be live as long as the application runs
    receiver = factory.createTransformReceiver();

    // Request a transform. Will return immediately
    Future<Transform> future = transformer.requestTransform("foo", "bar", System.currentTimeMillis());

    // Wait or poll
    Transform t = null;
    while (t == null) {
        t = future.get(100);

        doStuff();
    }

    System.out.println(t);
}