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...

#include <time_cache.h>

Inheritance diagram for tf2::TimeCache:

[legend]

List of all members.

Public Member Functions
virtual void	clearList ()
	Clear the list of stored values.
virtual bool	getData (ros::Time time, TransformStorage &data_out, std::string *error_str=0)
	Virtual methods.
virtual P_TimeAndFrameID	getLatestTimeAndParent ()
	Get the latest time stored in this cache, and the parent associated with it. Returns parent = 0 if no data.
virtual ros::Time	getLatestTimestamp ()
	Get the latest timestamp cached.
virtual unsigned int	getListLength ()
	Debugging information methods.
virtual ros::Time	getOldestTimestamp ()
	Get the oldest timestamp cached.
virtual CompactFrameID	getParent (ros::Time time, std::string *error_str)
	Retrieve the parent at a specific time.
virtual bool	insertData (const TransformStorage &new_data)
	Insert data into the cache.
	TimeCache (ros::Duration max_storage_time=ros::Duration().fromNSec(DEFAULT_MAX_STORAGE_TIME))
Static Public Attributes
static const int64_t	DEFAULT_MAX_STORAGE_TIME = 1ULL * 1000000000LL
	default value of 10 seconds storage
static const unsigned int	MAX_LENGTH_LINKED_LIST = 1000000
	Maximum length of linked list, to make sure not to be able to use unlimited memory.
static const int	MIN_INTERPOLATION_DISTANCE = 5
	Number of nano-seconds to not interpolate below.
Private Types
typedef std::list < TransformStorage >	L_TransformStorage
Private Member Functions
uint8_t	findClosest (TransformStorage &one, TransformStorage &two, ros::Time target_time, std::string *error_str)
	A helper function for getData.
void	interpolate (const TransformStorage &one, const TransformStorage &two, ros::Time time, TransformStorage &output)
void	pruneList ()
Private Attributes
ros::Duration	max_storage_time_
L_TransformStorage	storage_

Detailed Description

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.

Definition at line 91 of file time_cache.h.

Member Typedef Documentation

typedef std::list<TransformStorage> tf2::TimeCache::L_TransformStorage [private]

Definition at line 116 of file time_cache.h.

Constructor & Destructor Documentation

TimeCache::TimeCache ( ros::Duration max_storage_time = ros::Duration().fromNSec(DEFAULT_MAX_STORAGE_TIME) )

Definition at line 59 of file cache.cpp.

Member Function Documentation

void TimeCache::clearList ( ) [virtual]

Clear the list of stored values.

Implements tf2::TimeCacheInterface.

Definition at line 263 of file cache.cpp.

uint8_t TimeCache::findClosest	(	TransformStorage *&	one,
		TransformStorage *&	two,
		ros::Time	target_time,
		std::string *	error_str
	)		`[inline, private]`

A helper function for getData.

Definition at line 95 of file cache.cpp.

bool TimeCache::getData	(	ros::Time	time,
		TransformStorage &	data_out,
		std::string *	error_str = `0`
	)		`[virtual]`

Virtual methods.

Implements tf2::TimeCacheInterface.

Definition at line 191 of file cache.cpp.

P_TimeAndFrameID TimeCache::getLatestTimeAndParent ( ) [virtual]

Get the latest time stored in this cache, and the parent associated with it. Returns parent = 0 if no data.

Implements tf2::TimeCacheInterface.

Definition at line 273 of file cache.cpp.

ros::Time TimeCache::getLatestTimestamp ( ) [virtual]

Get the latest timestamp cached.

Implements tf2::TimeCacheInterface.

Definition at line 284 of file cache.cpp.

unsigned int TimeCache::getListLength ( ) [virtual]

Debugging information methods.

Implements tf2::TimeCacheInterface.

Definition at line 268 of file cache.cpp.

ros::Time TimeCache::getOldestTimestamp ( ) [virtual]

Get the oldest timestamp cached.

Implements tf2::TimeCacheInterface.

Definition at line 290 of file cache.cpp.

CompactFrameID TimeCache::getParent	(	ros::Time	time,
		std::string *	error_str
	)		`[virtual]`

Retrieve the parent at a specific time.

Implements tf2::TimeCacheInterface.

Definition at line 224 of file cache.cpp.

bool TimeCache::insertData ( const TransformStorage & new_data ) [virtual]

Insert data into the cache.

Implements tf2::TimeCacheInterface.

Definition at line 238 of file cache.cpp.

void TimeCache::interpolate	(	const TransformStorage &	one,
		const TransformStorage &	two,
		ros::Time	time,
		TransformStorage &	output
	)		`[inline, private]`

Definition at line 169 of file cache.cpp.

void TimeCache::pruneList ( ) [private]

Definition at line 296 of file cache.cpp.

Member Data Documentation

const int64_t tf2::TimeCache::DEFAULT_MAX_STORAGE_TIME = 1ULL * 1000000000LL [static]

default value of 10 seconds storage

Definition at line 96 of file time_cache.h.

const unsigned int tf2::TimeCache::MAX_LENGTH_LINKED_LIST = 1000000 [static]

Maximum length of linked list, to make sure not to be able to use unlimited memory.

Definition at line 95 of file time_cache.h.

ros::Duration tf2::TimeCache::max_storage_time_ [private]

Definition at line 119 of file time_cache.h.

const int tf2::TimeCache::MIN_INTERPOLATION_DISTANCE = 5 [static]

Number of nano-seconds to not interpolate below.

Definition at line 94 of file time_cache.h.

L_TransformStorage tf2::TimeCache::storage_ [private]

Definition at line 117 of file time_cache.h.

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

Public Member Functions

Static Public Attributes

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation