tf2::Buffer Class Reference

#include <buffer.h>

Inheritance diagram for tf2::Buffer:

[legend]

List of all members.

Public Member Functions
	Buffer (ros::Duration cache_time=ros::Duration(BufferCore::DEFAULT_CACHE_TIME), bool debug=true)
	Constructor for a Buffer object.
virtual 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, const ros::Duration timeout, std::string *errstr=NULL) const
	Test if a transform is possible.
virtual bool	canTransform (const std::string &target_frame, const std::string &source_frame, const ros::Time &target_time, const ros::Duration timeout, std::string *errstr=NULL) const
	Test if a transform is possible.
virtual geometry_msgs::TransformStamped	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, const ros::Duration timeout) const
	Get the transform between two frames by frame ID assuming fixed frame.
virtual geometry_msgs::TransformStamped	lookupTransform (const std::string &target_frame, const std::string &source_frame, const ros::Time &time, const ros::Duration timeout) const
	Get the transform between two frames by frame ID.
Private Member Functions
bool	getFrames (tf2_msgs::FrameGraph::Request &req, tf2_msgs::FrameGraph::Response &res)
Private Attributes
ros::ServiceServer	frames_server_

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Detailed Description

Definition at line 42 of file buffer.h.

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Constructor & Destructor Documentation

tf2::Buffer::Buffer	(	ros::Duration	cache_time = ros::Duration(BufferCore::DEFAULT_CACHE_TIME),
		bool	debug = true
	)

Constructor for a Buffer object.

Parameters:

	cache_time	How long to keep a history of transforms
	debug	Whether to advertise the view_frames service that exposes debugging information from the buffer

Returns:

Definition at line 38 of file buffer.cpp.

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Member Function Documentation

bool tf2::Buffer::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,
		const ros::Duration	timeout,
		std::string *	errstr = NULL
	)			const [virtual]

Test if a transform is possible.

Parameters:

	target_frame	The frame into which to transform
	target_time	The time into which to transform
	source_frame	The frame from which to transform
	source_time	The time from which to transform
	fixed_frame	The frame in which to treat the transform as constant in time
	timeout	How long to block before failing
	errstr	A pointer to a string which will be filled with why the transform failed, if not NULL

Returns:

True if the transform is possible, false otherwise

Implements tf2::BufferInterface.

Definition at line 80 of file buffer.cpp.

bool tf2::Buffer::canTransform	(	const std::string &	target_frame,
		const std::string &	source_frame,
		const ros::Time &	target_time,
		const ros::Duration	timeout,
		std::string *	errstr = NULL
	)			const [virtual]

Test if a transform is possible.

Parameters:

	target_frame	The frame into which to transform
	source_frame	The frame from which to transform
	time	The time at which to transform
	timeout	How long to block before failing
	errstr	A pointer to a string which will be filled with why the transform failed, if not NULL

Returns:

True if the transform is possible, false otherwise

Implements tf2::BufferInterface.

Definition at line 67 of file buffer.cpp.

bool tf2::Buffer::getFrames	(	tf2_msgs::FrameGraph::Request &	req,
		tf2_msgs::FrameGraph::Response &	res
	)			[inline, private]

Definition at line 112 of file buffer.h.

geometry_msgs::TransformStamped tf2::Buffer::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,
		const ros::Duration	timeout
	)			const [virtual]

Get the transform between two frames by frame ID assuming fixed frame.

Parameters:

	target_frame	The frame to which data should be transformed
	target_time	The time to which the data should be transformed. (0 will get the latest)
	source_frame	The frame where the data originated
	source_time	The time at which the source_frame should be evaluated. (0 will get the latest)
	fixed_frame	The frame in which to assume the transform is constant in time.
	timeout	How long to block before failing

Returns:

The transform between the frames

Possible exceptions tf2::LookupException, tf2::ConnectivityException, tf2::ExtrapolationException, tf2::InvalidArgumentException

Implements tf2::BufferInterface.

Definition at line 57 of file buffer.cpp.

geometry_msgs::TransformStamped tf2::Buffer::lookupTransform	(	const std::string &	target_frame,
		const std::string &	source_frame,
		const ros::Time &	time,
		const ros::Duration	timeout
	)			const [virtual]

Get the transform between two frames by frame ID.

Parameters:

	target_frame	The frame to which data should be transformed
	source_frame	The frame where the data originated
	time	The time at which the value of the transform is desired. (0 will get the latest)
	timeout	How long to block before failing

Returns:

The transform between the frames

Possible exceptions tf2::LookupException, tf2::ConnectivityException, tf2::ExtrapolationException, tf2::InvalidArgumentException

Implements tf2::BufferInterface.

Definition at line 48 of file buffer.cpp.

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Member Data Documentation

ros::ServiceServer tf2::Buffer::frames_server_ [private]

Definition at line 118 of file buffer.h.

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

• buffer.h
• buffer.cpp