Action client-based implementation of the tf2_ros::BufferInterface abstract data type. More...
#include <buffer_client.h>
Inheritance diagram for tf2_ros::BufferClient:
Public Types | |
| typedef actionlib::SimpleActionClient< tf2_msgs::LookupTransformAction > | LookupActionClient |
Public Member Functions | |
| BufferClient (std::string ns, double check_frequency=10.0, ros::Duration timeout_padding=ros::Duration(2.0)) | |
| BufferClient constructor. More... | |
| virtual bool | canTransform (const std::string &target_frame, const std::string &source_frame, const ros::Time &time, const ros::Duration timeout=ros::Duration(0.0), std::string *errstr=NULL) const |
| Test if a transform is possible. More... | |
| 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=ros::Duration(0.0), std::string *errstr=NULL) const |
| Test if a transform is possible. More... | |
| virtual geometry_msgs::TransformStamped | lookupTransform (const std::string &target_frame, const std::string &source_frame, const ros::Time &time, const ros::Duration timeout=ros::Duration(0.0)) const |
| Get the transform between two frames by frame ID. More... | |
| 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=ros::Duration(0.0)) const |
| Get the transform between two frames by frame ID assuming fixed frame. More... | |
| bool | waitForServer (const ros::Duration &timeout=ros::Duration(0)) |
| Block until the action server is ready to respond to requests. More... | |
 Public Member Functions inherited from tf2_ros::BufferInterface | |
| 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). More... | |
| 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). More... | |
| 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. More... | |
| 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. More... | |
| 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. More... | |
| 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. More... | |
Private Member Functions | |
| geometry_msgs::TransformStamped | processGoal (const tf2_msgs::LookupTransformGoal &goal) const |
| geometry_msgs::TransformStamped | processResult (const tf2_msgs::LookupTransformResult &result) const |
Private Attributes | |
| double | check_frequency_ |
| LookupActionClient | client_ |
| ros::Duration | timeout_padding_ |
Detailed Description
Action client-based implementation of the tf2_ros::BufferInterface abstract data type.
BufferClient uses actionlib to coordinate waiting for available transforms.
You can use this class with a tf2_ros::BufferServer and tf2_ros::TransformListener in a separate process.
Definition at line 52 of file buffer_client.h.
Member Typedef Documentation
| typedef actionlib::SimpleActionClient<tf2_msgs::LookupTransformAction> tf2_ros::BufferClient::LookupActionClient |
Definition at line 55 of file buffer_client.h.
Constructor & Destructor Documentation
| tf2_ros::BufferClient::BufferClient | ( | std::string | ns, |
| double | check_frequency = 10.0, |
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| ros::Duration | timeout_padding = ros::Duration(2.0) |
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| ) |
BufferClient constructor.
- Parameters
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ns The namespace in which to look for a BufferServer check_frequency The frequency in Hz to check whether the BufferServer has completed a request timeout_padding The amount of time to allow passed the desired timeout on the client side for communication lag
Definition at line 41 of file buffer_client.cpp.
Member Function Documentation
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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
Implements tf2_ros::BufferInterface.
Definition at line 132 of file buffer_client.cpp.
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virtual |
Test if a transform is possible.
- Parameters
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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 151 of file buffer_client.cpp.
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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 48 of file buffer_client.cpp.
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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 62 of file buffer_client.cpp.
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private |
Definition at line 79 of file buffer_client.cpp.
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private |
Definition at line 106 of file buffer_client.cpp.
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inline |
Block until the action server is ready to respond to requests.
- Parameters
-
timeout Time to wait for the server.
- Returns
- True if the server is ready, false otherwise.
Definition at line 126 of file buffer_client.h.
Member Data Documentation
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private |
Definition at line 135 of file buffer_client.h.
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mutableprivate |
Definition at line 134 of file buffer_client.h.
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private |
Definition at line 136 of file buffer_client.h.
The documentation for this class was generated from the following files: