Public Member Functions
|virtual tf::StampedTransform||lookupTransform (const std::string &target_frame, const std::string &source_frame, double t) const|
|Put the transform into the collection. More...|
|TransformCollection (MessageCollection< tf::tfMessage > &coll, const double search_back=10.0, const double search_forward=1.0)|
|MessageCollection< tf::tfMessage >||coll_|
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.
Definition at line 69 of file transform_collection.h.
Get the transform between two frames at a given timepoint. Can throw all the exceptions tf::lookupTransform can.
Definition at line 44 of file transform_collection.cpp.
Put the transform into the collection.
Definition at line 74 of file transform_collection.cpp.
Definition at line 84 of file transform_collection.h.
Definition at line 85 of file transform_collection.h.
Definition at line 86 of file transform_collection.h.