SharedTransform

Shares a 4x4 homogeneous transform among MATLAB instances

SharedTransform provides a low overhead way to share a 4x4 transform between MATLAB instances using memory mapped files. The original use case was a need for asynchronously updating the target pose of a robot that is controlled at >100 Hz with input data from a computer vision algorithm running at 30 Hz. Memory mapped files provide a simpler way to share data than using sockets or e.g. ROS messages using the robotics toolbox.

% MATLAB instance (writer)
blob = SharedTransform('blob');
blob.setTransform(eye(4));

% MATLAB instance (reader)
blob = SharedTransform('blob');
T = blob.getTransform();

Please consult the help documentation for more info.