#include <transform_collection.h>
Public Member Functions | |
virtual tf::StampedTransform | lookupTransform (const std::string &target_frame, const std::string &source_frame, double t) const =0 |
This abstract base class just makes it easier to write code that works for both TransformCollection and regular tf TransformListener objects
Definition at line 50 of file transform_collection.h.
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pure virtual |
Get the transform between two frames at a given timepoint. Can throw all the usual tf exceptions if the transform is unavailable.
Implemented in warehouse_ros::LiveTransformSource, and warehouse_ros::TransformCollection.