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...

#include <message_filter.h>

Inheritance diagram for tf::MessageFilter< M >:

[legend]

List of all members.

Public Types
typedef boost::function< void(const MConstPtr &, FilterFailureReason)>	FailureCallback
typedef boost::signals2::signal< void(const MConstPtr &, FilterFailureReason)>	FailureSignal
typedef boost::shared_ptr< M const >	MConstPtr
typedef ros::MessageEvent< M const >	MEvent
Public Member Functions
void	add (const MEvent &evt)
void	add (const MConstPtr &message)
	Manually add a message into this filter.
void	clear ()
	Clear any messages currently in the queue.
template<class F >
void	connectInput (F &f)
	Connect this filter's input to another filter's output. If this filter is already connected, disconnects first.
virtual uint32_t	getQueueSize ()
std::string	getTargetFramesString ()
	Get the target frames as a string for debugging.
	MessageFilter (Transformer &tf, const std::string &target_frame, uint32_t queue_size, ros::NodeHandle nh=ros::NodeHandle(), ros::Duration max_rate=ros::Duration(0.01))
	Constructor.
template<class F >
	MessageFilter (F &f, Transformer &tf, const std::string &target_frame, uint32_t queue_size, ros::NodeHandle nh=ros::NodeHandle(), ros::Duration max_rate=ros::Duration(0.01))
	Constructor.
message_filters::Connection	registerFailureCallback (const FailureCallback &callback)
	Register a callback to be called when a message is about to be dropped.
virtual void	setQueueSize (uint32_t new_queue_size)
void	setTargetFrame (const std::string &target_frame)
	Set the frame you need to be able to transform to before getting a message callback.
void	setTargetFrames (const std::vector< std::string > &target_frames)
	Set the frames you need to be able to transform to before getting a message callback.
void	setTolerance (const ros::Duration &tolerance)
	Set the required tolerance for the notifier to return true.
	~MessageFilter ()
	Destructor.
Private Types
typedef std::list< MEvent >	L_Event
Private Member Functions
void	checkFailures ()
void	disconnectFailure (const message_filters::Connection &c)
void	incomingMessage (const ros::MessageEvent< M const > &evt)
	Callback that happens when we receive a message on the message topic.
void	init ()
void	maxRateTimerCallback (const ros::TimerEvent &)
void	signalFailure (const MEvent &evt, FilterFailureReason reason)
bool	testMessage (const MEvent &evt)
void	testMessages ()
void	transformsChanged ()
Private Attributes
uint64_t	dropped_message_count_
uint64_t	failed_out_the_back_count_
uint64_t	failed_transform_count_
FailureSignal	failure_signal_
boost::mutex	failure_signal_mutex_
uint64_t	incoming_message_count_
std::string	last_out_the_back_frame_
ros::Time	last_out_the_back_stamp_
ros::Duration	max_rate_
ros::Timer	max_rate_timer_
message_filters::Connection	message_connection_
uint32_t	message_count_
	The number of messages in the list. Used because messages_.size() has linear cost.
L_Event	messages_
	The message list.
boost::mutex	messages_mutex_
	The mutex used for locking message list operations.
bool	new_messages_
	Used to skip waiting on new_data_ if new messages have come in while calling back.
volatile bool	new_transforms_
	Used to skip waiting on new_data_ if new transforms have come in while calling back or transforming data.
ros::Time	next_failure_warning_
ros::NodeHandle	nh_
	The node used to subscribe to the topic.
uint32_t	queue_size_
	The maximum number of messages we queue up.
uint64_t	successful_transform_count_
std::vector< std::string >	target_frames_
	The frames we need to be able to transform to before a message is ready.
std::string	target_frames_string_
boost::mutex	target_frames_string_mutex_
Transformer &	tf_
	The Transformer used to determine if transformation data is available.
boost::signals2::connection	tf_connection_
ros::Duration	time_tolerance_
	Provide additional tolerance on time for messages which are stamped but can have associated duration.
uint64_t	transform_message_count_
bool	warned_about_empty_frame_id_
bool	warned_about_unresolved_name_

Detailed Description

template<class M>
class tf::MessageFilter< M >

Follows the patterns set by the message_filters package to implement a filter which only passes messages through once there is transform data available.

The callbacks used in this class are of the same form as those used by roscpp's message callbacks.

MessageFilter is templated on a message type.

example_usage

If you want to hook a MessageFilter into a ROS topic:

message_filters::Subscriber<MessageType> sub(node_handle_, "topic", 10);
tf::MessageFilter<MessageType> tf_filter(sub, tf_listener_, "/map", 10);
tf_filter.registerCallback(&MyClass::myCallback, this);

Definition at line 106 of file message_filter.h.

Member Typedef Documentation

template<class M>

typedef boost::function<void(const MConstPtr&, FilterFailureReason)> tf::MessageFilter< M >::FailureCallback

Definition at line 111 of file message_filter.h.

template<class M>

typedef boost::signals2::signal<void(const MConstPtr&, FilterFailureReason)> tf::MessageFilter< M >::FailureSignal

Definition at line 112 of file message_filter.h.

template<class M>

typedef std::list<MEvent> tf::MessageFilter< M >::L_Event [private]

Definition at line 339 of file message_filter.h.

template<class M>

typedef boost::shared_ptr<M const> tf::MessageFilter< M >::MConstPtr

Reimplemented from message_filters::SimpleFilter< M >.

Definition at line 109 of file message_filter.h.

template<class M>

typedef ros::MessageEvent<M const> tf::MessageFilter< M >::MEvent

Definition at line 110 of file message_filter.h.

Constructor & Destructor Documentation

template<class M>

tf::MessageFilter< M >::MessageFilter	(	Transformer &	tf,
		const std::string &	target_frame,
		uint32_t	queue_size,
		ros::NodeHandle	nh = `ros::NodeHandle()`,
		ros::Duration	max_rate = `ros::Duration(0.01)`
	)		`[inline]`

Constructor.

Parameters:

tf	The tf::Transformer this filter should use
target_frame	The frame this filter should attempt to transform to. To use multiple frames, pass an empty string here and use the setTargetFrames() function.
queue_size	The number of messages to queue up before throwing away old ones. 0 means infinite (dangerous).
nh	The NodeHandle to use for any necessary operations
max_rate	The maximum rate to check for newly transformable messages

Definition at line 123 of file message_filter.h.

template<class M>

template<class F >

tf::MessageFilter< M >::MessageFilter	(	F &	f,
		Transformer &	tf,
		const std::string &	target_frame,
		uint32_t	queue_size,
		ros::NodeHandle	nh = `ros::NodeHandle()`,
		ros::Duration	max_rate = `ros::Duration(0.01)`
	)		`[inline]`

Constructor.

Parameters:

f	The filter to connect this filter's input to. Often will be a message_filters::Subscriber.
tf	The tf::Transformer this filter should use
target_frame	The frame this filter should attempt to transform to. To use multiple frames, pass an empty string here and use the setTargetFrames() function.
queue_size	The number of messages to queue up before throwing away old ones. 0 means infinite (dangerous).
nh	The NodeHandle to use for any necessary operations
max_rate	The maximum rate to check for newly transformable messages

Definition at line 145 of file message_filter.h.

template<class M>

tf::MessageFilter< M >::~MessageFilter ( ) [inline]

Destructor.

Definition at line 171 of file message_filter.h.

Member Function Documentation

template<class M>

void tf::MessageFilter< M >::add ( const MEvent & evt ) [inline]

Definition at line 247 of file message_filter.h.

template<class M>

void tf::MessageFilter< M >::add ( const MConstPtr & message ) [inline]

Manually add a message into this filter.

Note:: If the message (or any other messages in the queue) are immediately transformable this will immediately call through to the output callback, possibly multiple times

Definition at line 290 of file message_filter.h.

template<class M>

void tf::MessageFilter< M >::checkFailures ( ) [inline, private]

Definition at line 479 of file message_filter.h.

template<class M>

void tf::MessageFilter< M >::clear ( ) [inline, virtual]

Clear any messages currently in the queue.

Implements tf::MessageFilterBase.

Definition at line 234 of file message_filter.h.

template<class M>

template<class F >

void tf::MessageFilter< M >::connectInput ( F & f ) [inline]

Connect this filter's input to another filter's output. If this filter is already connected, disconnects first.

Definition at line 162 of file message_filter.h.

template<class M>

void tf::MessageFilter< M >::disconnectFailure ( const message_filters::Connection & c ) [inline, private]

Definition at line 507 of file message_filter.h.

template<class M>

virtual uint32_t tf::MessageFilter< M >::getQueueSize ( ) [inline, virtual]

Implements tf::MessageFilterBase.

Definition at line 313 of file message_filter.h.

template<class M>

std::string tf::MessageFilter< M >::getTargetFramesString ( ) [inline]

Get the target frames as a string for debugging.

Definition at line 217 of file message_filter.h.

template<class M>

void tf::MessageFilter< M >::incomingMessage ( const ros::MessageEvent< M const > & evt ) [inline, private]

Callback that happens when we receive a message on the message topic.

Definition at line 467 of file message_filter.h.

template<class M>

void tf::MessageFilter< M >::init ( ) [inline, private]

Definition at line 320 of file message_filter.h.

template<class M>

void tf::MessageFilter< M >::maxRateTimerCallback ( const ros::TimerEvent & ) [inline, private]

Definition at line 452 of file message_filter.h.

template<class M>

message_filters::Connection tf::MessageFilter< M >::registerFailureCallback ( const FailureCallback & callback ) [inline]

Register a callback to be called when a message is about to be dropped.

Parameters:

callback The callback to call

Definition at line 302 of file message_filter.h.

template<class M>

virtual void tf::MessageFilter< M >::setQueueSize ( uint32_t new_queue_size ) [inline, virtual]

Implements tf::MessageFilterBase.

Definition at line 308 of file message_filter.h.

template<class M>

void tf::MessageFilter< M >::setTargetFrame ( const std::string & target_frame ) [inline, virtual]

Set the frame you need to be able to transform to before getting a message callback.

Implements tf::MessageFilterBase.

Definition at line 190 of file message_filter.h.

template<class M>

void tf::MessageFilter< M >::setTargetFrames ( const std::vector< std::string > & target_frames ) [inline, virtual]

Set the frames you need to be able to transform to before getting a message callback.

Implements tf::MessageFilterBase.

Definition at line 200 of file message_filter.h.

template<class M>

void tf::MessageFilter< M >::setTolerance ( const ros::Duration & tolerance ) [inline, virtual]

Set the required tolerance for the notifier to return true.

Implements tf::MessageFilterBase.

Definition at line 226 of file message_filter.h.

template<class M>

void tf::MessageFilter< M >::signalFailure	(	const MEvent &	evt,
		FilterFailureReason	reason
	)		`[inline, private]`

Definition at line 513 of file message_filter.h.

template<class M>

bool tf::MessageFilter< M >::testMessage ( const MEvent & evt ) [inline, private]

Todo:: combine getLatestCommonTime call with the canTransform call

Definition at line 341 of file message_filter.h.

template<class M>

void tf::MessageFilter< M >::testMessages ( ) [inline, private]

Definition at line 426 of file message_filter.h.

template<class M>

void tf::MessageFilter< M >::transformsChanged ( ) [inline, private]

Definition at line 472 of file message_filter.h.

Member Data Documentation

template<class M>

uint64_t tf::MessageFilter< M >::dropped_message_count_ [private]

Definition at line 543 of file message_filter.h.

template<class M>

uint64_t tf::MessageFilter< M >::failed_out_the_back_count_ [private]

Definition at line 540 of file message_filter.h.

template<class M>

uint64_t tf::MessageFilter< M >::failed_transform_count_ [private]

Definition at line 539 of file message_filter.h.

template<class M>

FailureSignal tf::MessageFilter< M >::failure_signal_ [private]

Definition at line 555 of file message_filter.h.

template<class M>

boost::mutex tf::MessageFilter< M >::failure_signal_mutex_ [private]

Definition at line 556 of file message_filter.h.

template<class M>

uint64_t tf::MessageFilter< M >::incoming_message_count_ [private]

Definition at line 542 of file message_filter.h.

template<class M>

std::string tf::MessageFilter< M >::last_out_the_back_frame_ [private]

Definition at line 546 of file message_filter.h.

template<class M>

ros::Time tf::MessageFilter< M >::last_out_the_back_stamp_ [private]

Definition at line 545 of file message_filter.h.

template<class M>

ros::Duration tf::MessageFilter< M >::max_rate_ [private]

Definition at line 521 of file message_filter.h.

template<class M>

ros::Timer tf::MessageFilter< M >::max_rate_timer_ [private]

Definition at line 522 of file message_filter.h.

template<class M>

message_filters::Connection tf::MessageFilter< M >::message_connection_ [private]

Definition at line 553 of file message_filter.h.

template<class M>

uint32_t tf::MessageFilter< M >::message_count_ [private]

The number of messages in the list. Used because messages_.size() has linear cost.

Definition at line 529 of file message_filter.h.

template<class M>

L_Event tf::MessageFilter< M >::messages_ [private]

The message list.

Definition at line 528 of file message_filter.h.

template<class M>

boost::mutex tf::MessageFilter< M >::messages_mutex_ [private]

The mutex used for locking message list operations.

Definition at line 530 of file message_filter.h.

template<class M>

bool tf::MessageFilter< M >::new_messages_ [private]

Used to skip waiting on new_data_ if new messages have come in while calling back.

Definition at line 532 of file message_filter.h.

template<class M>

volatile bool tf::MessageFilter< M >::new_transforms_ [private]

Used to skip waiting on new_data_ if new transforms have come in while calling back or transforming data.

Definition at line 533 of file message_filter.h.

template<class M>

ros::Time tf::MessageFilter< M >::next_failure_warning_ [private]

Definition at line 548 of file message_filter.h.

template<class M>

ros::NodeHandle tf::MessageFilter< M >::nh_ [private]

The node used to subscribe to the topic.

Definition at line 520 of file message_filter.h.

template<class M>

uint32_t tf::MessageFilter< M >::queue_size_ [private]

The maximum number of messages we queue up.

Definition at line 526 of file message_filter.h.

template<class M>

uint64_t tf::MessageFilter< M >::successful_transform_count_ [private]

Definition at line 538 of file message_filter.h.

template<class M>

std::vector<std::string> tf::MessageFilter< M >::target_frames_ [private]

The frames we need to be able to transform to before a message is ready.

Definition at line 523 of file message_filter.h.

template<class M>

std::string tf::MessageFilter< M >::target_frames_string_ [private]

Definition at line 524 of file message_filter.h.

template<class M>

boost::mutex tf::MessageFilter< M >::target_frames_string_mutex_ [private]

Definition at line 525 of file message_filter.h.

template<class M>

Transformer& tf::MessageFilter< M >::tf_ [private]

The Transformer used to determine if transformation data is available.

Definition at line 519 of file message_filter.h.

template<class M>

boost::signals2::connection tf::MessageFilter< M >::tf_connection_ [private]

Definition at line 552 of file message_filter.h.

template<class M>

ros::Duration tf::MessageFilter< M >::time_tolerance_ [private]

Provide additional tolerance on time for messages which are stamped but can have associated duration.

Definition at line 550 of file message_filter.h.

template<class M>

uint64_t tf::MessageFilter< M >::transform_message_count_ [private]

Definition at line 541 of file message_filter.h.

template<class M>

bool tf::MessageFilter< M >::warned_about_empty_frame_id_ [private]

Definition at line 536 of file message_filter.h.

template<class M>

bool tf::MessageFilter< M >::warned_about_unresolved_name_ [private]

Definition at line 535 of file message_filter.h.

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

message_filter.h

Public Types

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

template<class M> class tf::MessageFilter< M >

example_usage

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<class M>
class tf::MessageFilter< M >