A class to keep a sorted linked list in time This builds and maintains a list of timestamped data. And provides lookup functions to get data out as a function of time. More...

#include <time_cache.h>

Inheritance diagram for tf2::TimeCache:

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Public Member Functions
virtual void	clearList ()
	Clear the list of stored values. More...

virtual bool	getData (ros::Time time, TransformStorage &data_out, std::string *error_str=0)
	Virtual methods. More...

virtual P_TimeAndFrameID	getLatestTimeAndParent ()
	Get the latest time stored in this cache, and the parent associated with it. Returns parent = 0 if no data. More...

virtual ros::Time	getLatestTimestamp ()
	Get the latest timestamp cached. More...

virtual unsigned int	getListLength ()
	Debugging information methods. More...

virtual ros::Time	getOldestTimestamp ()
	Get the oldest timestamp cached. More...

virtual CompactFrameID	getParent (ros::Time time, std::string *error_str)
	Retrieve the parent at a specific time. More...

virtual bool	insertData (const TransformStorage &new_data)
	Insert data into the cache. More...

	TimeCache (ros::Duration max_storage_time=ros::Duration().fromNSec(DEFAULT_MAX_STORAGE_TIME))

Static Public Attributes
static const int64_t	DEFAULT_MAX_STORAGE_TIME = 10ULL * 1000000000LL
	default value of 10 seconds storage More...

static const unsigned int	MAX_LENGTH_LINKED_LIST = 1000000
	Maximum length of linked list, to make sure not to be able to use unlimited memory. More...

static const int	MIN_INTERPOLATION_DISTANCE = 5
	Number of nano-seconds to not interpolate below. More...

Private Types
typedef std::deque< TransformStorage >	L_TransformStorage

Private Member Functions
uint8_t	findClosest (TransformStorage &one, TransformStorage &two, ros::Time target_time, std::string *error_str)
	A helper function for getData. More...

void	interpolate (const TransformStorage &one, const TransformStorage &two, ros::Time time, TransformStorage &output)

void	pruneList ()

Private Attributes
ros::Duration	max_storage_time_

L_TransformStorage	storage_

Detailed Description

A class to keep a sorted linked list in time This builds and maintains a list of timestamped data. And provides lookup functions to get data out as a function of time.

Definition at line 94 of file time_cache.h.

Member Typedef Documentation

typedef std::deque<TransformStorage> tf2::TimeCache::L_TransformStorage

private

Definition at line 119 of file time_cache.h.

Constructor & Destructor Documentation

tf2::TimeCache::TimeCache ( ros::Duration max_storage_time = ros::Duration().fromNSec(DEFAULT_MAX_STORAGE_TIME) )

Definition at line 59 of file cache.cpp.

Member Function Documentation

void tf2::TimeCache::clearList ( )

virtual

Clear the list of stored values.

Implements tf2::TimeCacheInterface.

Definition at line 270 of file cache.cpp.

uint8_t tf2::TimeCache::findClosest	(	TransformStorage *&	one,
		TransformStorage *&	two,
		ros::Time	target_time,
		std::string *	error_str
	)

inlineprivate

A helper function for getData.

Definition at line 101 of file cache.cpp.

bool tf2::TimeCache::getData	(	ros::Time	time,
		TransformStorage &	data_out,
		std::string *	error_str = `0`
	)

virtual

Virtual methods.

Implements tf2::TimeCacheInterface.

Definition at line 198 of file cache.cpp.

P_TimeAndFrameID tf2::TimeCache::getLatestTimeAndParent ( )

virtual

Get the latest time stored in this cache, and the parent associated with it. Returns parent = 0 if no data.

Implements tf2::TimeCacheInterface.

Definition at line 280 of file cache.cpp.

ros::Time tf2::TimeCache::getLatestTimestamp ( )

virtual

Get the latest timestamp cached.

Implements tf2::TimeCacheInterface.

Definition at line 291 of file cache.cpp.

unsigned int tf2::TimeCache::getListLength ( )

virtual

Debugging information methods.

Implements tf2::TimeCacheInterface.

Definition at line 275 of file cache.cpp.

ros::Time tf2::TimeCache::getOldestTimestamp ( )

virtual

Get the oldest timestamp cached.

Implements tf2::TimeCacheInterface.

Definition at line 297 of file cache.cpp.

CompactFrameID tf2::TimeCache::getParent	(	ros::Time	time,
		std::string *	error_str
	)

virtual

Retrieve the parent at a specific time.

Implements tf2::TimeCacheInterface.

Definition at line 231 of file cache.cpp.

bool tf2::TimeCache::insertData ( const TransformStorage & new_data )

virtual

Insert data into the cache.

Implements tf2::TimeCacheInterface.

Definition at line 245 of file cache.cpp.

void tf2::TimeCache::interpolate	(	const TransformStorage &	one,
		const TransformStorage &	two,
		ros::Time	time,
		TransformStorage &	output
	)

inlineprivate

Definition at line 176 of file cache.cpp.

void tf2::TimeCache::pruneList ( )

private

Definition at line 303 of file cache.cpp.

Member Data Documentation

const int64_t tf2::TimeCache::DEFAULT_MAX_STORAGE_TIME = 10ULL * 1000000000LL

static

default value of 10 seconds storage

Definition at line 99 of file time_cache.h.

const unsigned int tf2::TimeCache::MAX_LENGTH_LINKED_LIST = 1000000

static

Maximum length of linked list, to make sure not to be able to use unlimited memory.

Definition at line 98 of file time_cache.h.

ros::Duration tf2::TimeCache::max_storage_time_

private

Definition at line 122 of file time_cache.h.

const int tf2::TimeCache::MIN_INTERPOLATION_DISTANCE = 5

static

Number of nano-seconds to not interpolate below.

Definition at line 97 of file time_cache.h.

L_TransformStorage tf2::TimeCache::storage_

private

Definition at line 120 of file time_cache.h.

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

Public Member Functions

Static Public Attributes

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation