org.ros.rosjava_geometry.FrameTransformTree Class Reference

List of all members.

Public Member Functions
	FrameTransformTree ()
FrameTransform	get (String source)
FrameTransform	get (String source, Time time)
FrameTransform	lookUp (FrameName source)
FrameTransform	lookUp (FrameName source, Time time)
FrameTransform	transform (FrameName source, FrameName target)
FrameTransform	transform (String source, String target)
void	update (geometry_msgs.TransformStamped transformStamped)
Package Functions
FrameTransform	transformToRoot (FrameName source)
void	update (FrameTransform frameTransform)
Private Member Functions
void	add (FrameName source, LazyFrameTransform lazyFrameTransform)
FrameTransform	get (FrameName source, Time time)
FrameTransform	getLatest (FrameName source)
Private Attributes
final Object	mutex
final Map< FrameName, CircularBlockingDeque < LazyFrameTransform > >	transforms
Static Private Attributes
static final int	TRANSFORM_QUEUE_CAPACITY = 16

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Detailed Description

A tree of FrameTransforms.

FrameTransformTree does not currently support time travel. Lookups always use the newest TransformStamped.

Author:

damonkohler@google.com (Damon Kohler)

moesenle@google.com (Lorenz Moesenlechner)

Definition at line 37 of file FrameTransformTree.java.

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Constructor & Destructor Documentation

org.ros.rosjava_geometry.FrameTransformTree.FrameTransformTree

(

)

[inline]

Definition at line 50 of file FrameTransformTree.java.

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Member Function Documentation

void org.ros.rosjava_geometry.FrameTransformTree.add	(	FrameName	source,
		LazyFrameTransform	lazyFrameTransform
	)		[inline, private]

Definition at line 81 of file FrameTransformTree.java.

FrameTransform org.ros.rosjava_geometry.FrameTransformTree.get

(

String

source

)

[inline]

See also:

lookUp(FrameName)

Definition at line 119 of file FrameTransformTree.java.

FrameTransform org.ros.rosjava_geometry.FrameTransformTree.get	(	FrameName	source,
		Time	time
	)		[inline, private]

Definition at line 143 of file FrameTransformTree.java.

FrameTransform org.ros.rosjava_geometry.FrameTransformTree.get	(	String	source,
		Time	time
	)		[inline]

See also:

lookUp(FrameName, Time)

Definition at line 173 of file FrameTransformTree.java.

FrameTransform org.ros.rosjava_geometry.FrameTransformTree.getLatest

(

FrameName

source

)

[inline, private]

Definition at line 104 of file FrameTransformTree.java.

FrameTransform org.ros.rosjava_geometry.FrameTransformTree.lookUp

(

FrameName

source

)

[inline]

Returns the most recent FrameTransform for target

 source 

.

Parameters:

source

the frame to look up

Returns:

the most recent FrameTransform for

 source 

or

 null 

if no transform for

 source 

is available

Definition at line 99 of file FrameTransformTree.java.

FrameTransform org.ros.rosjava_geometry.FrameTransformTree.lookUp	(	FrameName	source,
		Time	time
	)		[inline]

Returns the FrameTransform for

 source 

closest to

 time 

.

Parameters:

source	the frame to look up
time	the transform for frame closest to this Time will be returned

Returns:

the most recent FrameTransform for

 source 

or

 null 

if no transform for

 source 

is available

Definition at line 136 of file FrameTransformTree.java.

FrameTransform org.ros.rosjava_geometry.FrameTransformTree.transform	(	FrameName	source,
		FrameName	target
	)		[inline]

Returns:

the FrameTransform from source the frame to the target frame, or

 null 

if no FrameTransform could be found

Definition at line 182 of file FrameTransformTree.java.

FrameTransform org.ros.rosjava_geometry.FrameTransformTree.transform	(	String	source,
		String	target
	)		[inline]

See also:

transform(FrameName, FrameName)

Definition at line 223 of file FrameTransformTree.java.

FrameTransform org.ros.rosjava_geometry.FrameTransformTree.transformToRoot

(

FrameName

source

)

[inline, package]

Parameters:

source

the resolved source frame

Returns:

the Transform from

 source 

to root

Definition at line 235 of file FrameTransformTree.java.

void org.ros.rosjava_geometry.FrameTransformTree.update

(

geometry_msgs.TransformStamped

transformStamped

)

[inline]

Updates the tree with the provided geometry_msgs.TransformStamped message.

Note that the tree is updated lazily. Modifications to the provided geometry_msgs.TransformStamped message may cause unpredictable results.

Parameters:

transformStamped

the geometry_msgs.TransformStamped message to update with

Definition at line 66 of file FrameTransformTree.java.

void org.ros.rosjava_geometry.FrameTransformTree.update

(

FrameTransform

frameTransform

)

[inline, package]

Definition at line 74 of file FrameTransformTree.java.

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Member Data Documentation

final Object org.ros.rosjava_geometry.FrameTransformTree.mutex [private]

Definition at line 41 of file FrameTransformTree.java.

final int org.ros.rosjava_geometry.FrameTransformTree.TRANSFORM_QUEUE_CAPACITY = 16 [static, private]

Definition at line 39 of file FrameTransformTree.java.

final Map<FrameName, CircularBlockingDeque<LazyFrameTransform> > org.ros.rosjava_geometry.FrameTransformTree.transforms [private]

A Map of the most recent LazyFrameTransform by source frame. Lookups by target frame or by the pair of source and target are both unnecessary because every frame can only have exactly one target.

Definition at line 48 of file FrameTransformTree.java.

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

• FrameTransformTree.java