This class inherits from Transformer and automatically subscribes to ROS transform messages. More...

#include <transform_listener.h>

Inheritance diagram for tf::TransformListener:

Public Member Functions
bool	getFrames (tf::FrameGraph::Request &, tf::FrameGraph::Response &res)

std::string	resolve (const std::string &frame_name)

	TransformListener (const ros::NodeHandle &nh, ros::Duration max_cache_time=ros::Duration(DEFAULT_CACHE_TIME), bool spin_thread=true)
	Alternate constructor for transform listener. More...

	TransformListener (ros::Duration max_cache_time=ros::Duration(DEFAULT_CACHE_TIME), bool spin_thread=true)
	Constructor for transform listener. More...

void	transformPoint (const std::string &target_frame, const geometry_msgs::PointStamped &stamped_in, geometry_msgs::PointStamped &stamped_out) const
	Transform a Stamped Point Message into the target frame This can throw all that lookupTransform can throw as well as tf::InvalidTransform. More...

void	transformPoint (const std::string &target_frame, const ros::Time &target_time, const geometry_msgs::PointStamped &pin, const std::string &fixed_frame, geometry_msgs::PointStamped &pout) const
	Transform a Stamped Point Message into the target frame and time This can throw all that lookupTransform can throw as well as tf::InvalidTransform. More...

void	transformPoint (const std::string &target_frame, const ros::Time &target_time, const Stamped< tf::Point > &stamped_in, const std::string &fixed_frame, Stamped< tf::Point > &stamped_out) const
	Transform a Stamped Point into the target frame This can throw anything a lookupTransform can throw as well as tf::InvalidArgument. More...

void	transformPoint (const std::string &target_frame, const Stamped< tf::Point > &stamped_in, Stamped< tf::Point > &stamped_out) const
	Transform a Stamped Point into the target frame This can throw anything a lookupTransform can throw as well as tf::InvalidArgument. More...

void	transformPointCloud (const std::string &target_frame, const ros::Time &target_time, const sensor_msgs::PointCloud &pcin, const std::string &fixed_frame, sensor_msgs::PointCloud &pcout) const
	Transform a sensor_msgs::PointCloud in space and time This can throw all that lookupTransform can throw as well as tf::InvalidTransform. More...

void	transformPointCloud (const std::string &target_frame, const sensor_msgs::PointCloud &pcin, sensor_msgs::PointCloud &pcout) const
	Transform a sensor_msgs::PointCloud natively This can throw all that lookupTransform can throw as well as tf::InvalidTransform. More...

void	transformPose (const std::string &target_frame, const geometry_msgs::PoseStamped &stamped_in, geometry_msgs::PoseStamped &stamped_out) const
	Transform a Stamped Pose Message into the target frame This can throw all that lookupTransform can throw as well as tf::InvalidTransform. More...

void	transformPose (const std::string &target_frame, const ros::Time &target_time, const geometry_msgs::PoseStamped &pin, const std::string &fixed_frame, geometry_msgs::PoseStamped &pout) const
	Transform a Stamped Pose Message into the target frame and time This can throw all that lookupTransform can throw as well as tf::InvalidTransform. More...

void	transformPose (const std::string &target_frame, const ros::Time &target_time, const Stamped< tf::Pose > &stamped_in, const std::string &fixed_frame, Stamped< tf::Pose > &stamped_out) const
	Transform a Stamped Pose into the target frame This can throw anything a lookupTransform can throw as well as tf::InvalidArgument. More...

void	transformPose (const std::string &target_frame, const Stamped< tf::Pose > &stamped_in, Stamped< tf::Pose > &stamped_out) const
	Transform a Stamped Pose into the target frame This can throw anything a lookupTransform can throw as well as tf::InvalidArgument. More...

void	transformQuaternion (const std::string &target_frame, const geometry_msgs::QuaternionStamped &stamped_in, geometry_msgs::QuaternionStamped &stamped_out) const
	Transform a Stamped Quaternion Message into the target frame This can throw all that lookupTransform can throw as well as tf::InvalidTransform. More...

void	transformQuaternion (const std::string &target_frame, const ros::Time &target_time, const geometry_msgs::QuaternionStamped &qin, const std::string &fixed_frame, geometry_msgs::QuaternionStamped &qout) const
	Transform a Stamped Quaternion Message into the target frame This can throw all that lookupTransform can throw as well as tf::InvalidTransform. More...

void	transformQuaternion (const std::string &target_frame, const ros::Time &target_time, const Stamped< tf::Quaternion > &stamped_in, const std::string &fixed_frame, Stamped< tf::Quaternion > &stamped_out) const
	Transform a Stamped Quaternion into the target frame This can throw anything a lookupTransform can throw as well as tf::InvalidArgument. More...

void	transformQuaternion (const std::string &target_frame, const Stamped< tf::Quaternion > &stamped_in, Stamped< tf::Quaternion > &stamped_out) const
	Transform a Stamped Quaternion into the target frame This can throw anything a lookupTransform can throw as well as tf::InvalidArgument. More...

void	transformVector (const std::string &target_frame, const geometry_msgs::Vector3Stamped &stamped_in, geometry_msgs::Vector3Stamped &stamped_out) const
	Transform a Stamped Vector Message into the target frame This can throw all that lookupTransform can throw as well as tf::InvalidTransform. More...

void	transformVector (const std::string &target_frame, const ros::Time &target_time, const geometry_msgs::Vector3Stamped &vin, const std::string &fixed_frame, geometry_msgs::Vector3Stamped &vout) const
	Transform a Stamped Vector Message into the target frame and time This can throw all that lookupTransform can throw as well as tf::InvalidTransform. More...

void	transformVector (const std::string &target_frame, const ros::Time &target_time, const Stamped< tf::Vector3 > &stamped_in, const std::string &fixed_frame, Stamped< tf::Vector3 > &stamped_out) const
	Transform a Stamped Vector3 into the target frame This can throw anything a lookupTransform can throw as well as tf::InvalidArgument. More...

void	transformVector (const std::string &target_frame, const Stamped< tf::Vector3 > &stamped_in, Stamped< tf::Vector3 > &stamped_out) const
	Transform a Stamped Vector3 into the target frame This can throw anything a lookupTransform can throw as well as tf::InvalidArgument. More...

	~TransformListener ()

Public Member Functions inherited from tf::Transformer
boost::signals2::connection	addTransformsChangedListener (boost::function< void(void)> callback)
	Add a callback that happens when a new transform has arrived. More...

std::string	allFramesAsDot (double current_time=0) const
	A way to see what frames have been cached Useful for debugging. More...

std::string	allFramesAsString () const
	A way to see what frames have been cached Useful for debugging. More...

bool	canTransform (const std::string &target_frame, const ros::Time &target_time, const std::string &source_frame, const ros::Time &source_time, const std::string &fixed_frame, std::string *error_msg=NULL) const
	Test if a transform is possible. More...

bool	canTransform (const std::string &target_frame, const std::string &source_frame, const ros::Time &time, std::string *error_msg=NULL) const
	Test if a transform is possible. More...

void	chainAsVector (const std::string &target_frame, ros::Time target_time, const std::string &source_frame, ros::Time source_time, const std::string &fixed_frame, std::vector< std::string > &output) const
	Debugging function that will print the spanning chain of transforms. Possible exceptions tf::LookupException, tf::ConnectivityException, tf::MaxDepthException. More...

void	clear ()
	Clear all data. More...

bool	frameExists (const std::string &frame_id_str) const
	Check if a frame exists in the tree. More...

ros::Duration	getCacheLength ()
	Get the duration over which this transformer will cache. More...

void	getFrameStrings (std::vector< std::string > &ids) const
	A way to get a std::vector of available frame ids. More...

int	getLatestCommonTime (const std::string &source_frame, const std::string &target_frame, ros::Time &time, std::string *error_string) const
	Return the latest rostime which is common across the spanning set zero if fails to cross. More...

bool	getParent (const std::string &frame_id, ros::Time time, std::string &parent) const
	Fill the parent of a frame. More...

std::shared_ptr< tf2_ros::Buffer >	getTF2BufferPtr ()

std::string	getTFPrefix () const
	Get the tf_prefix this is running with. More...

bool	isUsingDedicatedThread ()

void	lookupTransform (const std::string &target_frame, const ros::Time &target_time, const std::string &source_frame, const ros::Time &source_time, const std::string &fixed_frame, StampedTransform &transform) const
	Get the transform between two frames by frame ID assuming fixed frame. More...

void	lookupTransform (const std::string &target_frame, const std::string &source_frame, const ros::Time &time, StampedTransform &transform) const
	Get the transform between two frames by frame ID. More...

void	lookupTwist (const std::string &tracking_frame, const std::string &observation_frame, const ros::Time &time, const ros::Duration &averaging_interval, geometry_msgs::Twist &twist) const
	lookup the twist of the tracking frame with respect to the observational frame More...

void	lookupTwist (const std::string &tracking_frame, const std::string &observation_frame, const std::string &reference_frame, const tf::Point &reference_point, const std::string &reference_point_frame, const ros::Time &time, const ros::Duration &averaging_interval, geometry_msgs::Twist &twist) const
	Lookup the twist of the tracking_frame with respect to the observation frame in the reference_frame using the reference point. More...

void	removeTransformsChangedListener (boost::signals2::connection c)

void	setExtrapolationLimit (const ros::Duration &distance)
	Set the distance which tf is allow to extrapolate. More...

bool	setTransform (const StampedTransform &transform, const std::string &authority="default_authority")
	Add transform information to the tf data structure. More...

void	setUsingDedicatedThread (bool value)

	Transformer (bool interpolating=true, ros::Duration cache_time_=ros::Duration(DEFAULT_CACHE_TIME))

void	transformPoint (const std::string &target_frame, const ros::Time &target_time, const Stamped< tf::Point > &stamped_in, const std::string &fixed_frame, Stamped< tf::Point > &stamped_out) const
	Transform a Stamped Point into the target frame This can throw anything a lookupTransform can throw as well as tf::InvalidArgument. More...

void	transformPoint (const std::string &target_frame, const Stamped< tf::Point > &stamped_in, Stamped< tf::Point > &stamped_out) const
	Transform a Stamped Point into the target frame This can throw anything a lookupTransform can throw as well as tf::InvalidArgument. More...

void	transformPose (const std::string &target_frame, const ros::Time &target_time, const Stamped< tf::Pose > &stamped_in, const std::string &fixed_frame, Stamped< tf::Pose > &stamped_out) const
	Transform a Stamped Pose into the target frame This can throw anything a lookupTransform can throw as well as tf::InvalidArgument. More...

void	transformPose (const std::string &target_frame, const Stamped< tf::Pose > &stamped_in, Stamped< tf::Pose > &stamped_out) const
	Transform a Stamped Pose into the target frame This can throw anything a lookupTransform can throw as well as tf::InvalidArgument. More...

void	transformQuaternion (const std::string &target_frame, const ros::Time &target_time, const Stamped< tf::Quaternion > &stamped_in, const std::string &fixed_frame, Stamped< tf::Quaternion > &stamped_out) const
	Transform a Stamped Quaternion into the target frame This can throw anything a lookupTransform can throw as well as tf::InvalidArgument. More...

void	transformQuaternion (const std::string &target_frame, const Stamped< tf::Quaternion > &stamped_in, Stamped< tf::Quaternion > &stamped_out) const
	Transform a Stamped Quaternion into the target frame This can throw anything a lookupTransform can throw as well as tf::InvalidArgument. More...

void	transformVector (const std::string &target_frame, const ros::Time &target_time, const Stamped< tf::Vector3 > &stamped_in, const std::string &fixed_frame, Stamped< tf::Vector3 > &stamped_out) const
	Transform a Stamped Vector3 into the target frame This can throw anything a lookupTransform can throw as well as tf::InvalidArgument. More...

void	transformVector (const std::string &target_frame, const Stamped< tf::Vector3 > &stamped_in, Stamped< tf::Vector3 > &stamped_out) const
	Transform a Stamped Vector3 into the target frame This can throw anything a lookupTransform can throw as well as tf::InvalidArgument. More...

bool	waitForTransform (const std::string &target_frame, const ros::Time &target_time, const std::string &source_frame, const ros::Time &source_time, const std::string &fixed_frame, const ros::Duration &timeout, const ros::Duration &polling_sleep_duration=ros::Duration(0.01), std::string *error_msg=NULL) const
	Block until a transform is possible or it times out. More...

bool	waitForTransform (const std::string &target_frame, const std::string &source_frame, const ros::Time &time, const ros::Duration &timeout, const ros::Duration &polling_sleep_duration=ros::Duration(0.01), std::string *error_msg=NULL) const
	Block until a transform is possible or it times out. More...

virtual	~Transformer (void)

Protected Member Functions
bool	ok () const

Protected Member Functions inherited from tf::Transformer
ros::Time	now () const

Private Member Functions
void	transformPointCloud (const std::string &target_frame, const Transform &transform, const ros::Time &target_time, const sensor_msgs::PointCloud &pcin, sensor_msgs::PointCloud &pcout) const
	a helper function to be used for both transfrom pointCloud methods More...

Private Attributes
ros::NodeHandle	node_

tf2_ros::TransformListener	tf2_listener_
	replacing implementation with tf2_ros' More...

Additional Inherited Members
Public Attributes inherited from tf::Transformer
bool	fall_back_to_wall_time_

Static Public Attributes inherited from tf::Transformer
static const double	DEFAULT_CACHE_TIME = 10.0
	10.0 is the default amount of time to cache data in seconds, set in cpp file. More...

static const int64_t	DEFAULT_MAX_EXTRAPOLATION_DISTANCE = 0ULL
	The default amount of time to extrapolate //deprecated since integration with tf2. More...

static const unsigned int	MAX_GRAPH_DEPTH = 100UL
	The maximum number of time to recurse before assuming the tree has a loop. More...

Protected Attributes inherited from tf::Transformer
std::shared_ptr< tf2_ros::Buffer >	tf2_buffer_ptr_

std::string	tf_prefix_
	The internal storage class for ReferenceTransform. More...

Detailed Description

This class inherits from Transformer and automatically subscribes to ROS transform messages.

Definition at line 70 of file transform_listener.h.

Constructor & Destructor Documentation

◆ TransformListener() [1/2]

TransformListener::TransformListener	(	ros::Duration	max_cache_time = `ros::Duration(DEFAULT_CACHE_TIME)`,
		bool	spin_thread = `true`
	)

Constructor for transform listener.

Parameters

max_cache_time How long to store transform information

Definition at line 43 of file transform_listener.cpp.

◆ TransformListener() [2/2]

TransformListener::TransformListener	(	const ros::NodeHandle &	nh,
		ros::Duration	max_cache_time = `ros::Duration(DEFAULT_CACHE_TIME)`,
		bool	spin_thread = `true`
	)

Alternate constructor for transform listener.

Parameters

nh	The NodeHandle to use for any ROS interaction
max_cache_time	How long to store transform information

Definition at line 49 of file transform_listener.cpp.

◆ ~TransformListener()

TransformListener::~TransformListener ( )

Definition at line 55 of file transform_listener.cpp.

Member Function Documentation

◆ getFrames()

bool tf::TransformListener::getFrames	(	tf::FrameGraph::Request &	,
		tf::FrameGraph::Response &	res
	)

inline

Todo:: move to high precision laser projector class void projectAndTransformLaserScan(const sensor_msgs::LaserScan& scan_in, sensor_msgs::PointCloud& pcout);

Definition at line 148 of file transform_listener.h.

◆ ok()

bool TransformListener::ok ( ) const

protectedvirtual

Reimplemented from tf::Transformer.

Definition at line 61 of file transform_listener.cpp.

◆ resolve()

std::string tf::TransformListener::resolve ( const std::string & frame_name )

inline

Definition at line 155 of file transform_listener.h.

◆ transformPoint() [1/4]

void TransformListener::transformPoint	(	const std::string &	target_frame,
		const geometry_msgs::PointStamped &	stamped_in,
		geometry_msgs::PointStamped &	stamped_out
	)		const

Transform a Stamped Point Message into the target frame This can throw all that lookupTransform can throw as well as tf::InvalidTransform.

Definition at line 87 of file transform_listener.cpp.

◆ transformPoint() [2/4]

void TransformListener::transformPoint	(	const std::string &	target_frame,
		const ros::Time &	target_time,
		const geometry_msgs::PointStamped &	pin,
		const std::string &	fixed_frame,
		geometry_msgs::PointStamped &	pout
	)		const

Transform a Stamped Point Message into the target frame and time
This can throw all that lookupTransform can throw as well as tf::InvalidTransform.

Definition at line 162 of file transform_listener.cpp.

◆ transformPoint() [3/4]

void Transformer::transformPoint

Transform a Stamped Point into the target frame This can throw anything a lookupTransform can throw as well as tf::InvalidArgument.

Definition at line 543 of file tf.cpp.

◆ transformPoint() [4/4]

void Transformer::transformPoint

Transform a Stamped Point into the target frame This can throw anything a lookupTransform can throw as well as tf::InvalidArgument.

Definition at line 484 of file tf.cpp.

◆ transformPointCloud() [1/3]

void TransformListener::transformPointCloud	(	const std::string &	target_frame,
		const ros::Time &	target_time,
		const sensor_msgs::PointCloud &	pcin,
		const std::string &	fixed_frame,
		sensor_msgs::PointCloud &	pcout
	)		const

Transform a sensor_msgs::PointCloud in space and time This can throw all that lookupTransform can throw as well as tf::InvalidTransform.

Definition at line 191 of file transform_listener.cpp.

◆ transformPointCloud() [2/3]

void TransformListener::transformPointCloud	(	const std::string &	target_frame,
		const sensor_msgs::PointCloud &	pcin,
		sensor_msgs::PointCloud &	pcout
	)		const

Transform a sensor_msgs::PointCloud natively This can throw all that lookupTransform can throw as well as tf::InvalidTransform.

Definition at line 184 of file transform_listener.cpp.

◆ transformPointCloud() [3/3]

void TransformListener::transformPointCloud	(	const std::string &	target_frame,
		const Transform &	transform,
		const ros::Time &	target_time,
		const sensor_msgs::PointCloud &	pcin,
		sensor_msgs::PointCloud &	pcout
	)		const

private

a helper function to be used for both transfrom pointCloud methods

Definition at line 217 of file transform_listener.cpp.

◆ transformPose() [1/4]

void TransformListener::transformPose	(	const std::string &	target_frame,
		const geometry_msgs::PoseStamped &	stamped_in,
		geometry_msgs::PoseStamped &	stamped_out
	)		const

Transform a Stamped Pose Message into the target frame This can throw all that lookupTransform can throw as well as tf::InvalidTransform.

Definition at line 97 of file transform_listener.cpp.

◆ transformPose() [2/4]

void TransformListener::transformPose	(	const std::string &	target_frame,
		const ros::Time &	target_time,
		const geometry_msgs::PoseStamped &	pin,
		const std::string &	fixed_frame,
		geometry_msgs::PoseStamped &	pout
	)		const

Transform a Stamped Pose Message into the target frame and time
This can throw all that lookupTransform can throw as well as tf::InvalidTransform.

Definition at line 172 of file transform_listener.cpp.

◆ transformPose() [3/4]

void Transformer::transformPose

Transform a Stamped Pose into the target frame This can throw anything a lookupTransform can throw as well as tf::InvalidArgument.

Definition at line 558 of file tf.cpp.

◆ transformPose() [4/4]

void Transformer::transformPose

Transform a Stamped Pose into the target frame This can throw anything a lookupTransform can throw as well as tf::InvalidArgument.

Definition at line 494 of file tf.cpp.

◆ transformQuaternion() [1/4]

void TransformListener::transformQuaternion	(	const std::string &	target_frame,
		const geometry_msgs::QuaternionStamped &	stamped_in,
		geometry_msgs::QuaternionStamped &	stamped_out
	)		const

Transform a Stamped Quaternion Message into the target frame This can throw all that lookupTransform can throw as well as tf::InvalidTransform.

Definition at line 65 of file transform_listener.cpp.

◆ transformQuaternion() [2/4]

void TransformListener::transformQuaternion	(	const std::string &	target_frame,
		const ros::Time &	target_time,
		const geometry_msgs::QuaternionStamped &	qin,
		const std::string &	fixed_frame,
		geometry_msgs::QuaternionStamped &	qout
	)		const

Transform a Stamped Quaternion Message into the target frame This can throw all that lookupTransform can throw as well as tf::InvalidTransform.

Definition at line 141 of file transform_listener.cpp.

◆ transformQuaternion() [3/4]

void Transformer::transformQuaternion

Transform a Stamped Quaternion into the target frame This can throw anything a lookupTransform can throw as well as tf::InvalidArgument.

Definition at line 505 of file tf.cpp.

◆ transformQuaternion() [4/4]

void Transformer::transformQuaternion

Transform a Stamped Quaternion into the target frame This can throw anything a lookupTransform can throw as well as tf::InvalidArgument.

Definition at line 453 of file tf.cpp.

◆ transformVector() [1/4]

void TransformListener::transformVector	(	const std::string &	target_frame,
		const geometry_msgs::Vector3Stamped &	stamped_in,
		geometry_msgs::Vector3Stamped &	stamped_out
	)		const

Transform a Stamped Vector Message into the target frame This can throw all that lookupTransform can throw as well as tf::InvalidTransform.

Definition at line 77 of file transform_listener.cpp.

◆ transformVector() [2/4]

void TransformListener::transformVector	(	const std::string &	target_frame,
		const ros::Time &	target_time,
		const geometry_msgs::Vector3Stamped &	vin,
		const std::string &	fixed_frame,
		geometry_msgs::Vector3Stamped &	vout
	)		const

Transform a Stamped Vector Message into the target frame and time This can throw all that lookupTransform can throw as well as tf::InvalidTransform.

Definition at line 152 of file transform_listener.cpp.

◆ transformVector() [3/4]

void tf::Transformer::transformVector

Transform a Stamped Vector3 into the target frame This can throw anything a lookupTransform can throw as well as tf::InvalidArgument.

◆ transformVector() [4/4]

void Transformer::transformVector

Transform a Stamped Vector3 into the target frame This can throw anything a lookupTransform can throw as well as tf::InvalidArgument.

Todo:: may not be most efficient

Definition at line 466 of file tf.cpp.

Member Data Documentation

◆ node_

ros::NodeHandle tf::TransformListener::node_

private

Definition at line 168 of file transform_listener.h.

◆ tf2_listener_

tf2_ros::TransformListener tf::TransformListener::tf2_listener_

private

replacing implementation with tf2_ros'

Definition at line 171 of file transform_listener.h.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ TransformListener() [1/2]

◆ TransformListener() [2/2]

◆ ~TransformListener()

Member Function Documentation

◆ getFrames()

◆ ok()

◆ resolve()

◆ transformPoint() [1/4]

◆ transformPoint() [2/4]

◆ transformPoint() [3/4]

◆ transformPoint() [4/4]

◆ transformPointCloud() [1/3]

◆ transformPointCloud() [2/3]

◆ transformPointCloud() [3/3]

◆ transformPose() [1/4]

◆ transformPose() [2/4]

◆ transformPose() [3/4]

◆ transformPose() [4/4]

◆ transformQuaternion() [1/4]

◆ transformQuaternion() [2/4]

◆ transformQuaternion() [3/4]

◆ transformQuaternion() [4/4]

◆ transformVector() [1/4]

◆ transformVector() [2/4]

◆ transformVector() [3/4]

◆ transformVector() [4/4]

Member Data Documentation

◆ node_

◆ tf2_listener_