#include <transform_collection.h>
Public Member Functions | |
virtual tf::StampedTransform | lookupTransform (const std::string &target_frame, const std::string &source_frame, double t) const =0 |
This abstract base class just makes it easier to write code that works for both TransformCollection and regular tf TransformListener objects
Definition at line 51 of file transform_collection.h.
virtual tf::StampedTransform mongo_ros::TransformSource::lookupTransform | ( | const std::string & | target_frame, |
const std::string & | source_frame, | ||
double | t | ||
) | const [pure virtual] |
Get the transform between two frames at a given timepoint. Can throw all the usual tf exceptions if the transform is unavailable.
Implemented in mongo_ros::LiveTransformSource, and mongo_ros::TransformCollection.