Class TfBufferState

• Defined in File tf_buffer_state.hpp

Inheritance Relationships

Base Type

• public yasmin::State

Class Documentation

class TfBufferState : public yasmin::State

State that creates a tf2 buffer and transform listener.

The created objects are stored in the blackboard under the keys “tf_buffer” and “tf_listener” so that following states can reuse the same listener for transform lookups.

Public Functions

TfBufferState()

Shared pointer type for TfBufferState.

Construct a new TfBufferState.

virtual void configure() override

Read the configured parameters.

std::string execute(yasmin::Blackboard::SharedPtr blackboard) override

Create the tf2 buffer/listener pair and store them in the blackboard.

Parameters:

blackboard – Blackboard used to share the created objects.

Returns:

The execution outcome.