Public Member Functions | Private Attributes | List of all members
warehouse_ros::TransformCollection Class Reference

#include <transform_collection.h>

Inheritance diagram for warehouse_ros::TransformCollection:
Inheritance graph

Public Member Functions

virtual tf::StampedTransform lookupTransform (const std::string &target_frame, const std::string &source_frame, double t) const
void putTransform (tf::StampedTransform)
 Put the transform into the collection. More...
 TransformCollection (MessageCollection< tf::tfMessage > &coll, const double search_back=10.0, const double search_forward=1.0)

Private Attributes

MessageCollection< tf::tfMessage > coll_
double search_back_
double search_forward_

Detailed Description

The setup is that you have a db containing a collection with tf messages, in which each message has a metadata field named 'stamp', that equals the tf timestamp (this could be generated, e.g., with bag_to_db followed by add_metadata). Given such a collection, this class allows querying for a transform as with tf::TransformListener::lookupTransform, except this is deterministic with no dependency on network state or message queues.

Definition at line 66 of file transform_collection.h.

Constructor & Destructor Documentation

warehouse_ros::TransformCollection::TransformCollection ( MessageCollection< tf::tfMessage > &  coll,
const double  search_back = 10.0,
const double  search_forward = 1.0 

Definition at line 69 of file transform_collection.h.

Member Function Documentation

tf::StampedTransform warehouse_ros::TransformCollection::lookupTransform ( const std::string &  target_frame,
const std::string &  source_frame,
double  t 
) const

Get the transform between two frames at a given timepoint. Can throw all the exceptions tf::lookupTransform can.

Implements warehouse_ros::TransformSource.

Definition at line 44 of file transform_collection.cpp.

void warehouse_ros::TransformCollection::putTransform ( tf::StampedTransform  )

Put the transform into the collection.

Definition at line 74 of file transform_collection.cpp.

Member Data Documentation

MessageCollection<tf::tfMessage> warehouse_ros::TransformCollection::coll_

Definition at line 84 of file transform_collection.h.

double warehouse_ros::TransformCollection::search_back_

Definition at line 85 of file transform_collection.h.

double warehouse_ros::TransformCollection::search_forward_

Definition at line 86 of file transform_collection.h.

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

Author(s): Bhaskara Marthi , Connor Brew
autogenerated on Fri Jun 7 2019 21:44:23