Standard implementation of the tf2_ros::BufferInterface abstract data type. More...

#include <buffer.h>

Inheritance diagram for tf2_ros::Buffer:

Public Member Functions
	Buffer (ros::Duration cache_time=ros::Duration(BufferCore::DEFAULT_CACHE_TIME), bool debug=false)
	Constructor for a Buffer object.
virtual bool	canTransform (const std::string &target_frame, const std::string &source_frame, const ros::Time &target_time, const ros::Duration timeout, std::string *errstr=NULL) const
	Test if a transform is possible.
virtual bool	canTransform (const std::string &target_frame, const ros::Time &target_time, const std::string &source_frame, const ros::Time &source_time, const std::string &fixed_frame, const ros::Duration timeout, std::string *errstr=NULL) const
	Test if a transform is possible.
virtual geometry_msgs::TransformStamped	lookupTransform (const std::string &target_frame, const std::string &source_frame, const ros::Time &time, const ros::Duration timeout) const
	Get the transform between two frames by frame ID.
virtual geometry_msgs::TransformStamped	lookupTransform (const std::string &target_frame, const ros::Time &target_time, const std::string &source_frame, const ros::Time &source_time, const std::string &fixed_frame, const ros::Duration timeout) const
	Get the transform between two frames by frame ID assuming fixed frame.
Private Member Functions
bool	checkAndErrorDedicatedThreadPresent (std::string *errstr) const
bool	getFrames (tf2_msgs::FrameGraph::Request &req, tf2_msgs::FrameGraph::Response &res)
Private Attributes
ros::ServiceServer	frames_server_

Detailed Description

Standard implementation of the tf2_ros::BufferInterface abstract data type.

Inherits tf2_ros::BufferInterface and tf2::BufferCore. Stores known frames and offers a ROS service, "tf_frames", which responds to client requests with a response containing a tf2_msgs::FrameGraph representing the relationship of known frames.

Definition at line 51 of file buffer.h.

Constructor & Destructor Documentation

tf2_ros::Buffer::Buffer	(	ros::Duration	cache_time = `ros::Duration(BufferCore::DEFAULT_CACHE_TIME)`,
		bool	debug = `false`
	)

Constructor for a Buffer object.

Parameters:

cache_time	How long to keep a history of transforms
debug	Whether to advertise the view_frames service that exposes debugging information from the buffer

Returns:

Definition at line 43 of file buffer.cpp.

Member Function Documentation

bool tf2_ros::Buffer::canTransform	(	const std::string &	target_frame,
		const std::string &	source_frame,
		const ros::Time &	target_time,
		const ros::Duration	timeout,
		std::string *	errstr = `NULL`
	)		const `[virtual]`

Test if a transform is possible.

Parameters:

target_frame	The frame into which to transform
source_frame	The frame from which to transform
target_time	The time at which to transform
timeout	How long to block before failing
errstr	A pointer to a string which will be filled with why the transform failed, if not NULL

Returns:: True if the transform is possible, false otherwise

Implements tf2_ros::BufferInterface.

Definition at line 119 of file buffer.cpp.

bool tf2_ros::Buffer::canTransform	(	const std::string &	target_frame,
		const ros::Time &	target_time,
		const std::string &	source_frame,
		const ros::Time &	source_time,
		const std::string &	fixed_frame,
		const ros::Duration	timeout,
		std::string *	errstr = `NULL`
	)		const `[virtual]`

Test if a transform is possible.

Parameters:

target_frame	The frame into which to transform
target_time	The time into which to transform
source_frame	The frame from which to transform
source_time	The time from which to transform
fixed_frame	The frame in which to treat the transform as constant in time
timeout	How long to block before failing
errstr	A pointer to a string which will be filled with why the transform failed, if not NULL

Returns:: True if the transform is possible, false otherwise

Implements tf2_ros::BufferInterface.

Definition at line 148 of file buffer.cpp.

bool tf2_ros::Buffer::checkAndErrorDedicatedThreadPresent ( std::string * errstr ) const [private]

Definition at line 185 of file buffer.cpp.

bool tf2_ros::Buffer::getFrames	(	tf2_msgs::FrameGraph::Request &	req,
		tf2_msgs::FrameGraph::Response &	res
	)		`[private]`

Definition at line 177 of file buffer.cpp.

geometry_msgs::TransformStamped tf2_ros::Buffer::lookupTransform	(	const std::string &	target_frame,
		const std::string &	source_frame,
		const ros::Time &	time,
		const ros::Duration	timeout
	)		const `[virtual]`

Get the transform between two frames by frame ID.

Parameters:

target_frame	The frame to which data should be transformed
source_frame	The frame where the data originated
time	The time at which the value of the transform is desired. (0 will get the latest)
timeout	How long to block before failing

Returns:: The transform between the frames

Possible exceptions tf2::LookupException, tf2::ConnectivityException, tf2::ExtrapolationException, tf2::InvalidArgumentException

Implements tf2_ros::BufferInterface.

Definition at line 54 of file buffer.cpp.

geometry_msgs::TransformStamped tf2_ros::Buffer::lookupTransform	(	const std::string &	target_frame,
		const ros::Time &	target_time,
		const std::string &	source_frame,
		const ros::Time &	source_time,
		const std::string &	fixed_frame,
		const ros::Duration	timeout
	)		const `[virtual]`

Get the transform between two frames by frame ID assuming fixed frame.

Parameters:

target_frame	The frame to which data should be transformed
target_time	The time to which the data should be transformed. (0 will get the latest)
source_frame	The frame where the data originated
source_time	The time at which the source_frame should be evaluated. (0 will get the latest)
fixed_frame	The frame in which to assume the transform is constant in time.
timeout	How long to block before failing

Returns:: The transform between the frames

Possible exceptions tf2::LookupException, tf2::ConnectivityException, tf2::ExtrapolationException, tf2::InvalidArgumentException

Implements tf2_ros::BufferInterface.

Definition at line 63 of file buffer.cpp.

Member Data Documentation

ros::ServiceServer tf2_ros::Buffer::frames_server_ [private]

Definition at line 134 of file buffer.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation