tf::TransformListener Class Reference

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 &req, 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.
	TransformListener (ros::Duration max_cache_time=ros::Duration(DEFAULT_CACHE_TIME), bool spin_thread=true)
	Constructor for transform listener.
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.
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.
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.
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.
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.
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.
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 Twist Message into the target frame This can throw all that lookupTransform can throw as well as tf::InvalidTransform.
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.
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.
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.
	~TransformListener ()
Protected Member Functions
bool	ok () const
Private Member Functions
void	dedicatedListenerThread ()
void	init ()
	Initialize this transform listener, subscribing, advertising services, etc.
void	initWithThread ()
void	subscription_callback (const tf::tfMessageConstPtr &msg)
	Callback function for ros message subscriptoin.
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
Private Attributes
boost::thread *	dedicated_listener_thread_
std_msgs::Empty	empty_
	clear the cached data
ros::Time	last_update_ros_time_
	last time
ros::Subscriber	message_subscriber_tf_
ros::NodeHandle	node_
ros::Subscriber	reset_time_subscriber_
ros::ServiceServer	tf_frames_srv_
ros::CallbackQueue	tf_message_callback_queue_

Detailed Description

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

Definition at line 66 of file transform_listener.h.

Constructor & Destructor Documentation

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 78 of file transform_listener.cpp.

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 87 of file transform_listener.cpp.

TransformListener::~TransformListener ( )

Definition at line 96 of file transform_listener.cpp.

Member Function Documentation

void tf::TransformListener::dedicatedListenerThread ( ) [inline, private]

Definition at line 180 of file transform_listener.h.

bool tf::TransformListener::getFrames	(	tf::FrameGraph::Request &	req,
		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 144 of file transform_listener.h.

void TransformListener::init ( ) [private]

Initialize this transform listener, subscribing, advertising services, etc.

Todo:: magic number

Definition at line 109 of file transform_listener.cpp.

void TransformListener::initWithThread ( ) [private]

Todo:: magic number

Definition at line 126 of file transform_listener.cpp.

bool TransformListener::ok ( ) const [protected, virtual]

Reimplemented from tf::Transformer.

Definition at line 107 of file transform_listener.cpp.

std::string tf::TransformListener::resolve ( const std::string & frame_name ) [inline]

Definition at line 151 of file transform_listener.h.

void TransformListener::subscription_callback ( const tf::tfMessageConstPtr & msg ) [private]

Callback function for ros message subscriptoin.

Todo:: Use error reporting

Definition at line 335 of file transform_listener.cpp.

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 243 of file transform_listener.cpp.

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 168 of file transform_listener.cpp.

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 288 of file transform_listener.cpp.

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 272 of file transform_listener.cpp.

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 265 of file transform_listener.cpp.

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 253 of file transform_listener.cpp.

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 178 of file transform_listener.cpp.

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 Twist Message into the target frame This can throw all that lookupTransform can throw as well as tf::InvalidTransform.

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 222 of file transform_listener.cpp.

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 146 of file transform_listener.cpp.

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 233 of file transform_listener.cpp.

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