Abstract interface for wrapping tf2::BufferCore in a ROS-based API. Implementations include tf2_ros::Buffer and tf2_ros::BufferClient. More...

#include <buffer_interface.h>

Inheritance diagram for tf2_ros::BufferInterface:

[legend]

List of all members.

Public Member Functions
virtual bool	canTransform (const std::string &target_frame, const std::string &source_frame, const ros::Time &time, const ros::Duration timeout, std::string *errstr=NULL) const =0
	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 =0
	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 =0
	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 =0
	Get the transform between two frames by frame ID assuming fixed frame.
template<class T >
T &	transform (const T &in, T &out, const std::string &target_frame, ros::Duration timeout=ros::Duration(0.0)) const
	Transform an input into the target frame. This function is templated and can take as input any valid mathematical object that tf knows how to apply a transform to, by way of the templated math conversions interface. For example, the template type could be a Transform, Pose, Vector, or Quaternion message type (as defined in geometry_msgs).
template<class T >
T	transform (const T &in, const std::string &target_frame, ros::Duration timeout=ros::Duration(0.0)) const
	Transform an input into the target frame. This function is templated and can take as input any valid mathematical object that tf knows how to apply a transform to, by way of the templated math conversions interface. For example, the template type could be a Transform, Pose, Vector, or Quaternion message type (as defined in geometry_msgs).
template<class A , class B >
B &	transform (const A &in, B &out, const std::string &target_frame, ros::Duration timeout=ros::Duration(0.0)) const
	Transform an input into the target frame and convert to a specified output type. It is templated on two types: the type of the input object and the type of the transformed output. For example, the template types could be Transform, Pose, Vector, or Quaternion messages type (as defined in geometry_msgs). The function will calculate the transformation and then convert the result into the specified output type. Compilation will fail if a known conversion does not exist bewteen the two template parameters.
template<class T >
T &	transform (const T &in, T &out, const std::string &target_frame, const ros::Time &target_time, const std::string &fixed_frame, ros::Duration timeout=ros::Duration(0.0)) const
	Transform an input into the target frame (advanced). This function is templated and can take as input any valid mathematical object that tf knows how to apply a transform to, by way of the templated math conversions interface. For example, the template type could be a Transform, Pose, Vector, or Quaternion message type (as defined in geometry_msgs). This function follows the advanced API, which allows transforming between different time points, and specifying a fixed frame that does not varying in time.
template<class T >
T	transform (const T &in, const std::string &target_frame, const ros::Time &target_time, const std::string &fixed_frame, ros::Duration timeout=ros::Duration(0.0)) const
	Transform an input into the target frame (advanced). This function is templated and can take as input any valid mathematical object that tf knows how to apply a transform to, by way of the templated math conversions interface. For example, the template type could be a Transform, Pose, Vector, or Quaternion message type (as defined in geometry_msgs). This function follows the advanced API, which allows transforming between different time points, and specifying a fixed frame that does not varying in time.
template<class A , class B >
B &	transform (const A &in, B &out, const std::string &target_frame, const ros::Time &target_time, const std::string &fixed_frame, ros::Duration timeout=ros::Duration(0.0)) const
	Transform an input into the target frame and convert to a specified output type (advanced). It is templated on two types: the type of the input object and the type of the transformed output. For example, the template type could be a Transform, Pose, Vector, or Quaternion message type (as defined in geometry_msgs). The function will calculate the transformation and then convert the result into the specified output type. Compilation will fail if a known conversion does not exist bewteen the two template parameters. This function follows the advanced API, which allows transforming between different time points, and specifying a fixed frame that does not varying in time.

Detailed Description

Abstract interface for wrapping tf2::BufferCore in a ROS-based API. Implementations include tf2_ros::Buffer and tf2_ros::BufferClient.

Definition at line 48 of file buffer_interface.h.

Member Function Documentation

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

Test if a transform is possible.

Parameters:

target_frame	The frame into which to transform
source_frame	The frame from which to transform
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

Implemented in tf2_ros::Buffer, and tf2_ros::BufferClient.

virtual bool tf2_ros::BufferInterface::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 `[pure 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

Implemented in tf2_ros::Buffer, and tf2_ros::BufferClient.

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

Implemented in tf2_ros::Buffer, and tf2_ros::BufferClient.

virtual geometry_msgs::TransformStamped tf2_ros::BufferInterface::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 `[pure 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

Implemented in tf2_ros::Buffer, and tf2_ros::BufferClient.

template<class T >

T& tf2_ros::BufferInterface::transform	(	const T &	in,
		T &	out,
		const std::string &	target_frame,
		ros::Duration	timeout = `ros::Duration(0.0)`
	)		const `[inline]`

Transform an input into the target frame. This function is templated and can take as input any valid mathematical object that tf knows how to apply a transform to, by way of the templated math conversions interface. For example, the template type could be a Transform, Pose, Vector, or Quaternion message type (as defined in geometry_msgs).

Template Parameters:

T	The type of the object to transform.

Parameters:

in	The object to transform
out	The transformed output, preallocated by the caller.
target_frame	The string identifer for the frame to transform into.
timeout	How long to wait for the target frame. Default value is zero (no blocking).

Definition at line 123 of file buffer_interface.h.

template<class T >

T tf2_ros::BufferInterface::transform	(	const T &	in,
		const std::string &	target_frame,
		ros::Duration	timeout = `ros::Duration(0.0)`
	)		const `[inline]`

Transform an input into the target frame. This function is templated and can take as input any valid mathematical object that tf knows how to apply a transform to, by way of the templated math conversions interface. For example, the template type could be a Transform, Pose, Vector, or Quaternion message type (as defined in geometry_msgs).

Template Parameters:

T	The type of the object to transform.

Parameters:

in	The object to transform.
target_frame	The string identifer for the frame to transform into.
timeout	How long to wait for the target frame. Default value is zero (no blocking).

Returns:: The transformed output.

Definition at line 143 of file buffer_interface.h.

template<class A , class B >

B& tf2_ros::BufferInterface::transform	(	const A &	in,
		B &	out,
		const std::string &	target_frame,
		ros::Duration	timeout = `ros::Duration(0.0)`
	)		const `[inline]`

Transform an input into the target frame and convert to a specified output type. It is templated on two types: the type of the input object and the type of the transformed output. For example, the template types could be Transform, Pose, Vector, or Quaternion messages type (as defined in geometry_msgs). The function will calculate the transformation and then convert the result into the specified output type. Compilation will fail if a known conversion does not exist bewteen the two template parameters.

Template Parameters:

A	The type of the object to transform.
B	The type of the transformed output.

Parameters:

in	The object to transform
out	The transformed output, converted to the specified type.
target_frame	The string identifer for the frame to transform into.
timeout	How long to wait for the target frame. Default value is zero (no blocking).

Returns:: The transformed output, converted to the specified type.

Definition at line 168 of file buffer_interface.h.

template<class T >

T& tf2_ros::BufferInterface::transform	(	const T &	in,
		T &	out,
		const std::string &	target_frame,
		const ros::Time &	target_time,
		const std::string &	fixed_frame,
		ros::Duration	timeout = `ros::Duration(0.0)`
	)		const `[inline]`

Transform an input into the target frame (advanced). This function is templated and can take as input any valid mathematical object that tf knows how to apply a transform to, by way of the templated math conversions interface. For example, the template type could be a Transform, Pose, Vector, or Quaternion message type (as defined in geometry_msgs). This function follows the advanced API, which allows transforming between different time points, and specifying a fixed frame that does not varying in time.

Template Parameters:

T	The type of the object to transform.

Parameters:

in	The object to transform
out	The transformed output, preallocated by the caller.
target_frame	The string identifer for the frame to transform into.
target_time	The time into which to transform
fixed_frame	The frame in which to treat the transform as constant in time.
timeout	How long to wait for the target frame. Default value is zero (no blocking).

Definition at line 192 of file buffer_interface.h.

template<class T >

T tf2_ros::BufferInterface::transform	(	const T &	in,
		const std::string &	target_frame,
		const ros::Time &	target_time,
		const std::string &	fixed_frame,
		ros::Duration	timeout = `ros::Duration(0.0)`
	)		const `[inline]`

Transform an input into the target frame (advanced). This function is templated and can take as input any valid mathematical object that tf knows how to apply a transform to, by way of the templated math conversions interface. For example, the template type could be a Transform, Pose, Vector, or Quaternion message type (as defined in geometry_msgs). This function follows the advanced API, which allows transforming between different time points, and specifying a fixed frame that does not varying in time.

Template Parameters:

T	The type of the object to transform.

Parameters:

in	The object to transform
target_frame	The string identifer for the frame to transform into.
target_time	The time into which to transform
fixed_frame	The frame in which to treat the transform as constant in time.
timeout	How long to wait for the target frame. Default value is zero (no blocking).

Returns:: The transformed output.

Definition at line 220 of file buffer_interface.h.

template<class A , class B >

B& tf2_ros::BufferInterface::transform	(	const A &	in,
		B &	out,
		const std::string &	target_frame,
		const ros::Time &	target_time,
		const std::string &	fixed_frame,
		ros::Duration	timeout = `ros::Duration(0.0)`
	)		const `[inline]`

Transform an input into the target frame and convert to a specified output type (advanced). It is templated on two types: the type of the input object and the type of the transformed output. For example, the template type could be a Transform, Pose, Vector, or Quaternion message type (as defined in geometry_msgs). The function will calculate the transformation and then convert the result into the specified output type. Compilation will fail if a known conversion does not exist bewteen the two template parameters. This function follows the advanced API, which allows transforming between different time points, and specifying a fixed frame that does not varying in time.

Template Parameters:

A	The type of the object to transform.
B	The type of the transformed output.

Parameters:

in	The object to transform
out	The transformed output, converted to the specified output type.
target_frame	The string identifer for the frame to transform into.
target_time	The time into which to transform
fixed_frame	The frame in which to treat the transform as constant in time.
timeout	How long to wait for the target frame. Default value is zero (no blocking).

Returns:: The transformed output, converted to the specified output type.

Definition at line 251 of file buffer_interface.h.

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

buffer_interface.h

Public Member Functions

Detailed Description

Member Function Documentation