Provides an implementation of a snapshot of a transform tree that can be easily queried for transforming different quantities. Transforms are maintained as a list of transforms to a particular frame. All stored transforms are considered fixed. More...
#include <transforms.h>
Public Member Functions | |
| virtual bool | canTransform (const std::string &from_frame) const |
| Check whether data can be transformed from a particular frame. | |
| void | copyTransforms (std::vector< geometry_msgs::TransformStamped > &transforms) const |
| Get a vector of all the transforms as ROS messages. | |
| const FixedTransformsMap & | getAllTransforms () const |
| Return all the transforms. | |
| const std::string & | getTargetFrame () const |
| Get the planning frame corresponding to this set of transforms. | |
| virtual const Eigen::Affine3d & | getTransform (const std::string &from_frame) const |
| Get transform for from_frame (w.r.t target frame) | |
| virtual bool | isFixedFrame (const std::string &frame) const |
| Check whether a frame stays constant as the state of the robot model changes. | |
| void | setAllTransforms (const FixedTransformsMap &transforms) |
| Set all the transforms: a map from string names of frames to corresponding Eigen::Affine3d (w.r.t the planning frame) | |
| void | setTransform (const Eigen::Affine3d &t, const std::string &from_frame) |
| Set a transform in the transform tree (adding it if necessary) | |
| void | setTransform (const geometry_msgs::TransformStamped &transform) |
| Set a transform in the transform tree (adding it if necessary) | |
| void | setTransforms (const std::vector< geometry_msgs::TransformStamped > &transforms) |
| Set a transform in the transform tree (adding it if necessary) | |
| void | transformPose (const std::string &from_frame, const Eigen::Affine3d &t_in, Eigen::Affine3d &t_out) const |
| Transform a pose in from_frame to the target_frame. | |
| void | transformQuaternion (const std::string &from_frame, const Eigen::Quaterniond &q_in, Eigen::Quaterniond &q_out) const |
| Transform a quaternion in from_frame to the target_frame. | |
| void | transformRotationMatrix (const std::string &from_frame, const Eigen::Matrix3d &m_in, Eigen::Matrix3d &m_out) const |
| Transform a rotation matrix in from_frame to the target_frame. | |
| Transforms (const std::string &target_frame) | |
| Construct a transform list. | |
| void | transformVector3 (const std::string &from_frame, const Eigen::Vector3d &v_in, Eigen::Vector3d &v_out) const |
| Transform a vector in from_frame to the target_frame. | |
| virtual | ~Transforms () |
| Destructor. | |
Static Public Member Functions | |
| static bool | sameFrame (const std::string &frame1, const std::string &frame2) |
| Check if two frames end up being the same once the missing / are added as prefix (if they are missing) | |
Protected Attributes | |
| std::string | target_frame_ |
| FixedTransformsMap | transforms_ |
Detailed Description
Provides an implementation of a snapshot of a transform tree that can be easily queried for transforming different quantities. Transforms are maintained as a list of transforms to a particular frame. All stored transforms are considered fixed.
Definition at line 59 of file transforms.h.
Constructor & Destructor Documentation
| robot_state::Transforms::Transforms | ( | const std::string & | target_frame | ) |
Construct a transform list.
Definition at line 42 of file transforms.cpp.
| robot_state::Transforms::~Transforms | ( | ) | [virtual] |
Destructor.
Definition at line 69 of file transforms.cpp.
Member Function Documentation
| bool robot_state::Transforms::canTransform | ( | const std::string & | from_frame | ) | const [virtual] |
Check whether data can be transformed from a particular frame.
Reimplemented in planning_scene::SceneTransforms, and robot_state::StateTransforms.
Definition at line 112 of file transforms.cpp.
| const std::string & robot_state::Transforms::getTargetFrame | ( | ) | const |
Get the planning frame corresponding to this set of transforms.
- Returns:
- The planning frame
Definition at line 73 of file transforms.cpp.
| const Eigen::Affine3d & robot_state::Transforms::getTransform | ( | const std::string & | from_frame | ) | const [virtual] |
Get transform for from_frame (w.r.t target frame)
- Parameters:
-
from_frame The string id of the frame for which the transform is being computed
- Returns:
- The required transform
Reimplemented in planning_scene::SceneTransforms, and robot_state::StateTransforms.
Definition at line 96 of file transforms.cpp.
| bool robot_state::Transforms::isFixedFrame | ( | const std::string & | frame | ) | const [virtual] |
Check whether a frame stays constant as the state of the robot model changes.
Reimplemented in planning_scene::SceneTransforms.
Definition at line 88 of file transforms.cpp.
| bool robot_state::Transforms::sameFrame | ( | const std::string & | frame1, |
| const std::string & | frame2 | ||
| ) | [static] |
Check if two frames end up being the same once the missing / are added as prefix (if they are missing)
Definition at line 58 of file transforms.cpp.
Member Data Documentation
std::string robot_state::Transforms::target_frame_ [protected] |
Definition at line 193 of file transforms.h.
Definition at line 194 of file transforms.h.
The documentation for this class was generated from the following files: