tf Namespace Reference

Namespaces
namespace	filter_failure_reasons
Classes
class	ConnectivityException
	An exception class to notify of no connection. More...
class	ExtrapolationException
	An exception class to notify that the requested value would have required extrapolation beyond current limits. More...
struct	FrameGraph
struct	FrameGraphRequest_
struct	FrameGraphResponse_
class	InvalidArgument
	An exception class to notify that one of the arguments is invalid. More...
class	LookupException
	An exception class to notify of bad frame number. More...
class	MessageFilter
	Follows the patterns set by the message_filters package to implement a filter which only passes messages through once there is transform data available. More...
class	MessageFilterBase
class	Stamped
	The data type which will be cross compatable with geometry_msgs This is the tf datatype equivilant of a MessageStamped. More...
class	StampedTransform
	The Stamped Transform datatype used by tf. More...
struct	tfMessage_
class	TimeCache
	A class to keep a sorted linked list in time This builds and maintains a list of timestamped data. And provides lookup functions to get data out as a function of time. More...
class	TransformBroadcaster
	This class provides an easy way to publish coordinate frame transform information. It will handle all the messaging and stuffing of messages. And the function prototypes lay out all the necessary data needed for each message. More...
class	Transformer
	A Class which provides coordinate transforms between any two frames in a system. More...
class	TransformException
	A base class for all tf exceptions This inherits from ros::exception which inherits from std::runtime_exception. More...
class	TransformListener
	This class inherits from Transformer and automatically subscribes to ROS transform messages. More...
struct	TransformLists
	An internal representation of transform chains. More...
class	TransformStorage
	Storage for transforms and their parent. More...
Typedefs
typedef uint32_t	CompactFrameID
typedef filter_failure_reasons::FilterFailureReason	FilterFailureReason
typedef ::tf::FrameGraphRequest_ < std::allocator< void > >	FrameGraphRequest
typedef boost::shared_ptr < ::tf::FrameGraphRequest const >	FrameGraphRequestConstPtr
typedef boost::shared_ptr < ::tf::FrameGraphRequest >	FrameGraphRequestPtr
typedef ::tf::FrameGraphResponse_ < std::allocator< void > >	FrameGraphResponse
typedef boost::shared_ptr < ::tf::FrameGraphResponse const >	FrameGraphResponseConstPtr
typedef boost::shared_ptr < ::tf::FrameGraphResponse >	FrameGraphResponsePtr
typedef std::pair< ros::Time, CompactFrameID >	P_TimeAndFrameID
typedef btVector3	Point
	The transform library representation of a point(Position).
typedef btTransform	Pose
	A representation of pose (A position and orientation).
typedef btQuaternion	Quaternion
	A representaton of orientation or rotation depending on context.
typedef ::tf::tfMessage_ < std::allocator< void > >	tfMessage
typedef boost::shared_ptr < ::tf::tfMessage const >	tfMessageConstPtr
typedef boost::shared_ptr < ::tf::tfMessage >	tfMessagePtr
typedef btTransform	Transform
	A representation of a translation and rotation.
typedef btVector3	Vector3
	A representation of a translation.
Enumerations
enum	ErrorValues { NO_ERROR = 0, LOOKUP_ERROR, CONNECTIVITY_ERROR, EXTRAPOLATION_ERROR }
enum	ExtrapolationMode { ONE_VALUE, INTERPOLATE, EXTRAPOLATE_BACK, EXTRAPOLATE_FORWARD }
Functions
	__attribute__ ((deprecated)) static inline std
void	assertQuaternionValid (const geometry_msgs::Quaternion &q)
	Throw InvalidArgument if quaternion is malformed.
void	assertQuaternionValid (const tf::Quaternion &q)
	Throw InvalidArgument if quaternion is malformed.
static tf::Quaternion	createIdentityQuaternion ()
	construct an Identity Quaternion
static tf::Quaternion	createQuaternionFromRPY (double roll, double pitch, double yaw)
	construct a Quaternion from Fixed angles
static Quaternion	createQuaternionFromYaw (double yaw)
	construct a Quaternion from yaw only
static geometry_msgs::Quaternion	createQuaternionMsgFromRollPitchYaw (double roll, double pitch, double yaw)
	construct a Quaternion Message from Fixed angles
static geometry_msgs::Quaternion	createQuaternionMsgFromYaw (double yaw)
	construct a Quaternion Message from yaw only
std::string	getPrefixParam (ros::NodeHandle &nh)
	Get the tf_prefix from the parameter server.
static double	getYaw (const Quaternion &bt_q)
	Helper function for getting yaw from a Quaternion.
template<typename ContainerAllocator >
std::ostream &	operator<< (std::ostream &s, const ::tf::tfMessage_< ContainerAllocator > &v)
static bool	operator== (const StampedTransform &a, const StampedTransform &b)
	Comparison operator for StampedTransform.
template<typename T >
bool	operator== (const Stamped< T > &a, const Stamped< T > &b)
	Comparison Operator for Stamped datatypes.
static void	pointMsgToTF (const geometry_msgs::Point &msg_v, Point &bt_v)
	convert Point msg to Point
static void	pointStampedMsgToTF (const geometry_msgs::PointStamped &msg, Stamped< Point > &bt)
	convert PointStamped msg to Stamped<Point>
static void	pointStampedTFToMsg (const Stamped< Point > &bt, geometry_msgs::PointStamped &msg)
	convert Stamped<Point> to PointStamped msg
static void	pointTFToMsg (const Point &bt_v, geometry_msgs::Point &msg_v)
	convert Point to Point msg
static void	poseMsgToTF (const geometry_msgs::Pose &msg, Pose &bt)
	convert Pose msg to Pose
static void	poseStampedMsgToTF (const geometry_msgs::PoseStamped &msg, Stamped< Pose > &bt)
	convert PoseStamped msg to Stamped<Pose>
static void	poseStampedTFToMsg (const Stamped< Pose > &bt, geometry_msgs::PoseStamped &msg)
	convert Stamped<Pose> to PoseStamped msg
static void	poseTFToMsg (const Pose &bt, geometry_msgs::Pose &msg)
	convert Pose to Pose msg
static void	quaternionMsgToTF (const geometry_msgs::Quaternion &msg, Quaternion &bt)
	convert Quaternion msg to Quaternion
static void	quaternionStampedMsgToTF (const geometry_msgs::QuaternionStamped &msg, Stamped< Quaternion > &bt)
	convert QuaternionStamped msg to Stamped<Quaternion>
static void	quaternionStampedTFToMsg (const Stamped< Quaternion > &bt, geometry_msgs::QuaternionStamped &msg)
	convert Stamped<Quaternion> to QuaternionStamped msg
static void	quaternionTFToMsg (const Quaternion &bt, geometry_msgs::Quaternion &msg)
	convert Quaternion to Quaternion msg
std::string	remap (const std::string &frame_id) __attribute__((deprecated))
	resolve names
std::string	resolve (const std::string &prefix, const std::string &frame_name)
	resolve tf names
static void	transformMsgToTF (const geometry_msgs::Transform &msg, Transform &bt)
	convert Transform msg to Transform
static void	transformStampedMsgToTF (const geometry_msgs::TransformStamped &msg, StampedTransform &bt)
	convert TransformStamped msg to tf::StampedTransform
static void	transformStampedTFToMsg (const StampedTransform &bt, geometry_msgs::TransformStamped &msg)
	convert tf::StampedTransform to TransformStamped msg
static void	transformTFToMsg (const Transform &bt, geometry_msgs::Transform &msg)
	convert Transform to Transform msg
static void	vector3MsgToTF (const geometry_msgs::Vector3 &msg_v, Vector3 &bt_v)
	convert Vector3 msg to Vector3
static void	vector3StampedMsgToTF (const geometry_msgs::Vector3Stamped &msg, Stamped< Vector3 > &bt)
	convert Vector3Stamped msg to Stamped<Vector3>
static void	vector3StampedTFToMsg (const Stamped< Vector3 > &bt, geometry_msgs::Vector3Stamped &msg)
	convert Stamped<Vector3> to Vector3Stamped msg
static void	vector3TFToMsg (const Vector3 &bt_v, geometry_msgs::Vector3 &msg_v)
	convert Vector3 to Vector3 msg
Variables
static const double	QUATERNION_TOLERANCE = 0.1f

---

Detailed Description

Author:

Tully Foote

---

Typedef Documentation

typedef uint32_t tf::CompactFrameID

Definition at line 50 of file time_cache.h.

typedef filter_failure_reasons::FilterFailureReason tf::FilterFailureReason

Definition at line 75 of file message_filter.h.

typedef ::tf::FrameGraphRequest_<std::allocator<void> > tf::FrameGraphRequest

Definition at line 88 of file FrameGraph.h.

typedef boost::shared_ptr< ::tf::FrameGraphRequest const> tf::FrameGraphRequestConstPtr

Definition at line 91 of file FrameGraph.h.

typedef boost::shared_ptr< ::tf::FrameGraphRequest> tf::FrameGraphRequestPtr

Definition at line 90 of file FrameGraph.h.

typedef ::tf::FrameGraphResponse_<std::allocator<void> > tf::FrameGraphResponse

Definition at line 168 of file FrameGraph.h.

typedef boost::shared_ptr< ::tf::FrameGraphResponse const> tf::FrameGraphResponseConstPtr

Definition at line 171 of file FrameGraph.h.

typedef boost::shared_ptr< ::tf::FrameGraphResponse> tf::FrameGraphResponsePtr

Definition at line 170 of file FrameGraph.h.

typedef std::pair<ros::Time, CompactFrameID> tf::P_TimeAndFrameID

Definition at line 51 of file time_cache.h.

typedef btVector3 tf::Point

The transform library representation of a point(Position).

Definition at line 53 of file transform_datatypes.h.

typedef btTransform tf::Pose

A representation of pose (A position and orientation).

Definition at line 57 of file transform_datatypes.h.

typedef btQuaternion tf::Quaternion

A representaton of orientation or rotation depending on context.

Definition at line 49 of file transform_datatypes.h.

typedef ::tf::tfMessage_<std::allocator<void> > tf::tfMessage

Definition at line 145 of file tfMessage.h.

typedef boost::shared_ptr< ::tf::tfMessage const> tf::tfMessageConstPtr

Definition at line 148 of file tfMessage.h.

typedef boost::shared_ptr< ::tf::tfMessage> tf::tfMessagePtr

Definition at line 147 of file tfMessage.h.

typedef btTransform tf::Transform

A representation of a translation and rotation.

Definition at line 55 of file transform_datatypes.h.

typedef btVector3 tf::Vector3

A representation of a translation.

Todo:

differentiate?

Definition at line 51 of file transform_datatypes.h.

---

Enumeration Type Documentation

enum tf::ErrorValues

Enumerator:

NO_ERROR
LOOKUP_ERROR
CONNECTIVITY_ERROR
EXTRAPOLATION_ERROR

Definition at line 57 of file tf.h.

enum tf::ExtrapolationMode

Enumerator:

ONE_VALUE
INTERPOLATE
EXTRAPOLATE_BACK
EXTRAPOLATE_FORWARD

Definition at line 47 of file time_cache.h.

---

Function Documentation

tf::__attribute__

(

(deprecated)

)

Deprecated:

This has been renamed to tf::resolve

Definition at line 55 of file tf.h.

void tf::assertQuaternionValid

(

const geometry_msgs::Quaternion &

q

)

[inline]

Throw InvalidArgument if quaternion is malformed.

Definition at line 503 of file tf.h.

void tf::assertQuaternionValid

(

const tf::Quaternion &

q

)

[inline]

Throw InvalidArgument if quaternion is malformed.

Definition at line 492 of file tf.h.

static tf::Quaternion tf::createIdentityQuaternion

(

)

[inline, static]

construct an Identity Quaternion

Returns:

The quaternion constructed

Definition at line 200 of file transform_datatypes.h.

static tf::Quaternion tf::createQuaternionFromRPY	(	double	roll,
		double	pitch,
		double	yaw
	)			[inline, static]

construct a Quaternion from Fixed angles

Parameters:

	roll	The roll about the X axis
	pitch	The pitch about the Y axis
	yaw	The yaw about the Z axis

Returns:

The quaternion constructed

Definition at line 157 of file transform_datatypes.h.

static Quaternion tf::createQuaternionFromYaw

(

double

yaw

)

[inline, static]

construct a Quaternion from yaw only

Parameters:

yaw

The yaw about the Z axis

Returns:

The quaternion constructed

Definition at line 167 of file transform_datatypes.h.

static geometry_msgs::Quaternion tf::createQuaternionMsgFromRollPitchYaw	(	double	roll,
		double	pitch,
		double	yaw
	)			[inline, static]

construct a Quaternion Message from Fixed angles

Parameters:

	roll	The roll about the X axis
	pitch	The pitch about the Y axis
	yaw	The yaw about the Z axis

Returns:

The quaternion constructed

Definition at line 191 of file transform_datatypes.h.

static geometry_msgs::Quaternion tf::createQuaternionMsgFromYaw

(

double

yaw

)

[inline, static]

construct a Quaternion Message from yaw only

Parameters:

yaw

The yaw about the Z axis

Returns:

The quaternion constructed

Definition at line 177 of file transform_datatypes.h.

std::string tf::getPrefixParam

(

ros::NodeHandle &

nh

)

[inline]

Get the tf_prefix from the parameter server.

Parameters:

nh

The node handle to use to lookup the parameter.

Returns:

The tf_prefix value for this NodeHandle

Definition at line 51 of file transform_listener.h.

static double tf::getYaw

(

const Quaternion &

bt_q

)

[inline, static]

Helper function for getting yaw from a Quaternion.

Helper function for getting yaw from a Quaternion message.

Definition at line 145 of file transform_datatypes.h.

template<typename ContainerAllocator >

std::ostream& tf::operator<<	(	std::ostream &	s,
		const ::tf::tfMessage_< ContainerAllocator > &	v
	)			[inline]

Definition at line 152 of file tfMessage.h.

static bool tf::operator==	(	const StampedTransform &	a,
		const StampedTransform &	b
	)			[inline, static]

Comparison operator for StampedTransform.

Definition at line 106 of file transform_datatypes.h.

template<typename T >

bool tf::operator==	(	const Stamped< T > &	a,
		const Stamped< T > &	b
	)			[inline]

Comparison Operator for Stamped datatypes.

Definition at line 82 of file transform_datatypes.h.

static void tf::pointMsgToTF	(	const geometry_msgs::Point &	msg_v,
		Point &	bt_v
	)			[inline, static]

convert Point msg to Point

Definition at line 228 of file transform_datatypes.h.

static void tf::pointStampedMsgToTF	(	const geometry_msgs::PointStamped &	msg,
		Stamped< Point > &	bt
	)			[inline, static]

convert PointStamped msg to Stamped<Point>

Definition at line 233 of file transform_datatypes.h.

static void tf::pointStampedTFToMsg	(	const Stamped< Point > &	bt,
		geometry_msgs::PointStamped &	msg
	)			[inline, static]

convert Stamped<Point> to PointStamped msg

Definition at line 236 of file transform_datatypes.h.

static void tf::pointTFToMsg	(	const Point &	bt_v,
		geometry_msgs::Point &	msg_v
	)			[inline, static]

convert Point to Point msg

Definition at line 230 of file transform_datatypes.h.

static void tf::poseMsgToTF	(	const geometry_msgs::Pose &	msg,
		Pose &	bt
	)			[inline, static]

convert Pose msg to Pose

Definition at line 255 of file transform_datatypes.h.

static void tf::poseStampedMsgToTF	(	const geometry_msgs::PoseStamped &	msg,
		Stamped< Pose > &	bt
	)			[inline, static]

convert PoseStamped msg to Stamped<Pose>

Definition at line 262 of file transform_datatypes.h.

static void tf::poseStampedTFToMsg	(	const Stamped< Pose > &	bt,
		geometry_msgs::PoseStamped &	msg
	)			[inline, static]

convert Stamped<Pose> to PoseStamped msg

Definition at line 265 of file transform_datatypes.h.

static void tf::poseTFToMsg	(	const Pose &	bt,
		geometry_msgs::Pose &	msg
	)			[inline, static]

convert Pose to Pose msg

Definition at line 258 of file transform_datatypes.h.

static void tf::quaternionMsgToTF	(	const geometry_msgs::Quaternion &	msg,
		Quaternion &	bt
	)			[inline, static]

convert Quaternion msg to Quaternion

Definition at line 112 of file transform_datatypes.h.

static void tf::quaternionStampedMsgToTF	(	const geometry_msgs::QuaternionStamped &	msg,
		Stamped< Quaternion > &	bt
	)			[inline, static]

convert QuaternionStamped msg to Stamped<Quaternion>

Definition at line 208 of file transform_datatypes.h.

static void tf::quaternionStampedTFToMsg	(	const Stamped< Quaternion > &	bt,
		geometry_msgs::QuaternionStamped &	msg
	)			[inline, static]

convert Stamped<Quaternion> to QuaternionStamped msg

Definition at line 211 of file transform_datatypes.h.

static void tf::quaternionTFToMsg	(	const Quaternion &	bt,
		geometry_msgs::Quaternion &	msg
	)			[inline, static]

convert Quaternion to Quaternion msg

Definition at line 122 of file transform_datatypes.h.

std::string tf::remap

(

const std::string &

frame_id

)

resolve names

Deprecated:

Use TransformListener::remap instead

Definition at line 39 of file transform_listener.cpp.

std::string tf::resolve	(	const std::string &	prefix,
		const std::string &	frame_name
	)

resolve tf names

Definition at line 160 of file tf.cpp.

static void tf::transformMsgToTF	(	const geometry_msgs::Transform &	msg,
		Transform &	bt
	)			[inline, static]

convert Transform msg to Transform

Definition at line 241 of file transform_datatypes.h.

static void tf::transformStampedMsgToTF	(	const geometry_msgs::TransformStamped &	msg,
		StampedTransform &	bt
	)			[inline, static]

convert TransformStamped msg to tf::StampedTransform

Definition at line 248 of file transform_datatypes.h.

static void tf::transformStampedTFToMsg	(	const StampedTransform &	bt,
		geometry_msgs::TransformStamped &	msg
	)			[inline, static]

convert tf::StampedTransform to TransformStamped msg

Definition at line 251 of file transform_datatypes.h.

static void tf::transformTFToMsg	(	const Transform &	bt,
		geometry_msgs::Transform &	msg
	)			[inline, static]

convert Transform to Transform msg

Definition at line 244 of file transform_datatypes.h.

static void tf::vector3MsgToTF	(	const geometry_msgs::Vector3 &	msg_v,
		Vector3 &	bt_v
	)			[inline, static]

convert Vector3 msg to Vector3

Definition at line 215 of file transform_datatypes.h.

static void tf::vector3StampedMsgToTF	(	const geometry_msgs::Vector3Stamped &	msg,
		Stamped< Vector3 > &	bt
	)			[inline, static]

convert Vector3Stamped msg to Stamped<Vector3>

Definition at line 220 of file transform_datatypes.h.

static void tf::vector3StampedTFToMsg	(	const Stamped< Vector3 > &	bt,
		geometry_msgs::Vector3Stamped &	msg
	)			[inline, static]

convert Stamped<Vector3> to Vector3Stamped msg

Definition at line 223 of file transform_datatypes.h.

static void tf::vector3TFToMsg	(	const Vector3 &	bt_v,
		geometry_msgs::Vector3 &	msg_v
	)			[inline, static]

convert Vector3 to Vector3 msg

Definition at line 217 of file transform_datatypes.h.

---

Variable Documentation

const double tf::QUATERNION_TOLERANCE = 0.1f [static]

Definition at line 59 of file transform_datatypes.h.