tf2::BufferInterface Class Reference

#include <buffer_interface.h>

Inheritance diagram for tf2::BufferInterface:

[legend]

List of all members.

Public Member Functions
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 =0
	Test if a transform is possible.
virtual bool	canTransform (const std::string &target_frame, const std::string &source_frame, const ros::Time &time, const ros::Duration timeout, std::string *errstr=NULL) const =0
	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 =0
	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 =0
	Get the transform between two frames by frame ID.
template<class A , class B >
B &	transform (const A &in, B &out, const std::string &target_frame, const ros::Time &target_time, const std::string &fixed_frame, ros::Duration timeout=ros::Duration(0.0)) const
template<class T >
T &	transform (const T &in, const std::string &target_frame, const ros::Time &target_time, const std::string &fixed_frame, ros::Duration timeout=ros::Duration(0.0)) const
template<class T >
T &	transform (const T &in, T &out, const std::string &target_frame, const ros::Time &target_time, const std::string &fixed_frame, ros::Duration timeout=ros::Duration(0.0)) const
template<class A , class B >
B &	transform (const A &in, B &out, const std::string &target_frame, ros::Duration timeout=ros::Duration(0.0)) const
template<class T >
T	transform (const T &in, const std::string &target_frame, ros::Duration timeout=ros::Duration(0.0)) const
template<class T >
T &	transform (const T &in, T &out, const std::string &target_frame, ros::Duration timeout=ros::Duration(0.0)) const

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Detailed Description

Definition at line 102 of file buffer_interface.h.

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Member Function Documentation

virtual bool tf2::BufferInterface::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 [pure 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

Implemented in tf2::Buffer, and tf2::BufferClient.

virtual bool tf2::BufferInterface::canTransform	(	const std::string &	target_frame,
		const std::string &	source_frame,
		const ros::Time &	time,
		const ros::Duration	timeout,
		std::string *	errstr = NULL
	)			const [pure 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

Implemented in tf2::Buffer, and tf2::BufferClient.

virtual geometry_msgs::TransformStamped tf2::BufferInterface::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 [pure 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

Implemented in tf2::Buffer, and tf2::BufferClient.

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

Implemented in tf2::Buffer, and tf2::BufferClient.

template<class A , class B >

B& tf2::BufferInterface::transform	(	const A &	in,
		B &	out,
		const std::string &	target_frame,
		const ros::Time &	target_time,
		const std::string &	fixed_frame,
		ros::Duration	timeout = ros::Duration(0.0)
	)			const [inline]

Definition at line 221 of file buffer_interface.h.

template<class T >

T& tf2::BufferInterface::transform	(	const T &	in,
		const std::string &	target_frame,
		const ros::Time &	target_time,
		const std::string &	fixed_frame,
		ros::Duration	timeout = ros::Duration(0.0)
	)			const [inline]

Definition at line 211 of file buffer_interface.h.

template<class T >

T& tf2::BufferInterface::transform	(	const T &	in,
		T &	out,
		const std::string &	target_frame,
		const ros::Time &	target_time,
		const std::string &	fixed_frame,
		ros::Duration	timeout = ros::Duration(0.0)
	)			const [inline]

Definition at line 197 of file buffer_interface.h.

template<class A , class B >

B& tf2::BufferInterface::transform	(	const A &	in,
		B &	out,
		const std::string &	target_frame,
		ros::Duration	timeout = ros::Duration(0.0)
	)			const [inline]

Definition at line 187 of file buffer_interface.h.

template<class T >

T tf2::BufferInterface::transform	(	const T &	in,
		const std::string &	target_frame,
		ros::Duration	timeout = ros::Duration(0.0)
	)			const [inline]

Definition at line 178 of file buffer_interface.h.

template<class T >

T& tf2::BufferInterface::transform	(	const T &	in,
		T &	out,
		const std::string &	target_frame,
		ros::Duration	timeout = ros::Duration(0.0)
	)			const [inline]

Definition at line 167 of file buffer_interface.h.

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

• buffer_interface.h