#include <nodelet_aware_tf_buffer.h>

Inheritance diagram for cras::NodeletAwareTFBuffer:

[legend]

Public Member Functions
	NodeletAwareTFBuffer (const ::nodelet::Nodelet &nodelet, const ::ros::Duration &cacheTime=::ros::Duration(::tf2::BufferCore::DEFAULT_CACHE_TIME))
	Create the buffer. More...

	NodeletAwareTFBuffer (const ::nodelet::Nodelet &nodelet, const ::std::shared_ptr<::tf2::BufferCore > &parentBuffer)
	Create the buffer that relays lookups to the given parentBuffer. More...

bool	ok () const override
	Whether it is OK to continue sleeping. If false, a pending `sleep()` should stop as soon as possible. More...

	~NodeletAwareTFBuffer () override

Public Member Functions inherited from cras::InterruptibleTFBuffer
::std::string	allFramesAsString () const
	A way to see what frames have been cached. Useful for debugging. More...

::std::string	allFramesAsYAML (double current_time) const
	A way to see what frames have been cached in yaml format. Useful for debugging tools. More...

::std::string	allFramesAsYAML () const
	Backwards compatibility for #84. More...

bool	canTransform (const ::std::string &target_frame, const ::std::string &source_frame, const ::ros::Time &time, ::ros::Duration timeout, ::std::string *errstr) const override

bool	canTransform (const ::std::string &target_frame, const ::std::string &source_frame, const ::ros::Time &time, ::ros::Duration timeout) const
	Test if a transform is possible. More...

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, ::ros::Duration timeout, ::std::string *errstr) const override

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, ::ros::Duration timeout) const
	Test if a transform is possible. More...

bool	canTransform (const ::std::string &target_frame, const ::std::string &source_frame, const ::ros::Time &time, ::std::string *error_msg=nullptr) const
	Test if a transform is possible. More...

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, ::std::string *error_msg=nullptr) const
	Test if a transform is possible. More...

void	clear ()
	Clear all data. More...

::ros::Duration	getCacheLength ()
	Get the duration over which this transformer will cache. More...

::tf2::BufferCore &	getRawBuffer ()
	Get the raw tf2::BufferCore that actually stores the transforms. More...

const ::tf2::BufferCore &	getRawBuffer () const
	Get the raw tf2::BufferCore that actually stores the transforms. More...

	InterruptibleTFBuffer (const ::ros::Duration &cacheTime={::tf2::BufferCore::DEFAULT_CACHE_TIME, 0})
	Create the buffer. More...

	InterruptibleTFBuffer (const ::std::shared_ptr<::tf2::BufferCore > &parentBuffer)
	Create the buffer that relays lookups to the given parentBuffer and adds the interruptible behavior to it. Cache duration is the same as in parentBuffer. Only getCacheLength(), canTransform() and lookupTransform() methods are valid on this buffer in this mode. Any modifications/tf listeners should be done on the parent buffer. More...

::geometry_msgs::TransformStamped	lookupTransform (const ::std::string &target_frame, const ::std::string &source_frame, const ::ros::Time &time, const ::ros::Duration timeout) const override

::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) const override

::geometry_msgs::TransformStamped	lookupTransform (const ::std::string &target_frame, const ::std::string &source_frame, const ::ros::Time &time) const
	Get the transform between two frames by frame ID. More...

::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
	Get the transform between two frames by frame ID assuming fixed frame. More...

bool	ok () const override
	Whether it is OK to continue. If false, all pending lookups should stop as soon as possible. More...

virtual void	requestStop ()
	Request all pending lookups to stop. After calling this, `ok()` should return false. More...

bool	setCanTransformPollingScale (double scale)
	Set the scale by which `canTransform()` timeout is multiplied to determine the transform polling rate. More...

bool	setMinPollingDuration (const ::ros::Duration &duration)
	Set minimum duration of a pause between two transform polls. More...

bool	setTransform (const ::geometry_msgs::TransformStamped &transform, const ::std::string &authority, bool is_static=false)
	Add transform information to the tf data structure. More...

template<class T >
T &	transform (const T &in, T &out, const ::std::string &target_frame, ::ros::Duration timeout={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={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={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={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={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={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...

	~InterruptibleTFBuffer () override
	Destroys the class. Waits until a running `canTransform()` call is finished. More...

Public Member Functions inherited from cras::InterruptibleSleepInterface
	InterruptibleSleepInterface ()

virtual bool	sleep (const ::ros::Duration &duration) const
	Sleep for the given duration or until `ok()` returns false. More...

virtual	~InterruptibleSleepInterface ()
	Destroy the object waiting for a pending `sleep()` call to finish. More...

Protected Attributes
const ::nodelet::Nodelet &	nodelet
	The stateful nodelet to be aware of. More...

Protected Attributes inherited from cras::InterruptibleTFBuffer
double	canTransformPollingScale {0.01}
	`canTransform()` timeout is multiplied by this scale and polling for the transform is done in these time steps. More...

::ros::Duration	minPollingDuration {0, 1000000}
	Minimum duration of a pause between two transform polls. If timeout * canTransformPollingScale would be smaller than this value, this value will be used instead to prevent too frequent queries. More...

const ::std::shared_ptr<::tf2::BufferCore >	parentBuffer {nullptr}
	If not null, this class relays all lookups to parentBuffer. More...

Protected Attributes inherited from cras::InterruptibleSleepInterface
::ros::WallDuration	pollDuration {0, 1000000}
	How long to wait between querying the `ok()` status and other conditions. More...

Additional Inherited Members
Protected Types inherited from tf2::BufferCore
typedef boost::function< void(TransformableRequestHandle request_handle, const std::string &target_frame, const std::string &source_frame, ros::Time time, TransformableResult result)>	TransformableCallback

Protected Member Functions inherited from tf2_ros::Buffer
	Buffer (ros::Duration cache_time=ros::Duration(BufferCore::DEFAULT_CACHE_TIME), bool debug=false)

virtual bool	canTransform (const std::string &target_frame, const std::string &source_frame, const ros::Time &target_time, const ros::Duration timeout, std::string *errstr=NULL) const

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, std::string *errstr=NULL) const

virtual geometry_msgs::TransformStamped	lookupTransform (const std::string &target_frame, const std::string &source_frame, const ros::Time &time, const ros::Duration timeout) const

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) const

Protected Member Functions inherited from tf2_ros::BufferInterface
B &	transform (const A &in, B &out, const std::string &target_frame, ros::Duration timeout=ros::Duration(0.0)) const

T	transform (const T &in, const std::string &target_frame, ros::Duration timeout=ros::Duration(0.0)) const

T &	transform (const T &in, T &out, const std::string &target_frame, ros::Duration timeout=ros::Duration(0.0)) const

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

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

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

Protected Member Functions inherited from tf2::BufferCore
boost::signals2::connection	_addTransformsChangedListener (boost::function< void(void)> callback)

std::string	_allFramesAsDot (double current_time) const

std::string	_allFramesAsDot () const

void	_chainAsVector (const std::string &target_frame, ros::Time target_time, const std::string &source_frame, ros::Time source_time, const std::string &fixed_frame, std::vector< std::string > &output) const

bool	_frameExists (const std::string &frame_id_str) const

void	_getFrameStrings (std::vector< std::string > &ids) const

int	_getLatestCommonTime (CompactFrameID target_frame, CompactFrameID source_frame, ros::Time &time, std::string *error_string) const

bool	_getParent (const std::string &frame_id, ros::Time time, std::string &parent) const

CompactFrameID	_lookupFrameNumber (const std::string &frameid_str) const

CompactFrameID	_lookupOrInsertFrameNumber (const std::string &frameid_str)

void	_removeTransformsChangedListener (boost::signals2::connection c)

CompactFrameID	_validateFrameId (const char *function_name_arg, const std::string &frame_id) const

TransformableCallbackHandle	addTransformableCallback (const TransformableCallback &cb)

TransformableRequestHandle	addTransformableRequest (TransformableCallbackHandle handle, const std::string &target_frame, const std::string &source_frame, ros::Time time)

std::string	allFramesAsString () const

std::string	allFramesAsYAML (double current_time) const

std::string	allFramesAsYAML () const

	BufferCore (ros::Duration cache_time_=ros::Duration(DEFAULT_CACHE_TIME))

void	cancelTransformableRequest (TransformableRequestHandle handle)

bool	canTransform (const std::string &target_frame, const std::string &source_frame, const ros::Time &time, std::string *error_msg=NULL) const

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, std::string *error_msg=NULL) const

void	clear ()

ros::Duration	getCacheLength ()

bool	isUsingDedicatedThread () const

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

geometry_msgs::TransformStamped	lookupTransform (const std::string &target_frame, const std::string &source_frame, const ros::Time &time) const

void	removeTransformableCallback (TransformableCallbackHandle handle)

bool	setTransform (const geometry_msgs::TransformStamped &transform, const std::string &authority, bool is_static=false)

void	setUsingDedicatedThread (bool value)

virtual	~BufferCore (void)

Protected Member Functions inherited from cras::InterruptibleSleepInterface
	InterruptibleSleepInterface ()

virtual bool	sleep (const ::ros::Duration &duration) const
	Sleep for the given duration or until `ok()` returns false. More...

virtual	~InterruptibleSleepInterface ()
	Destroy the object waiting for a pending `sleep()` call to finish. More...

Static Protected Attributes inherited from tf2::BufferCore
static const int	DEFAULT_CACHE_TIME

static const uint32_t	MAX_GRAPH_DEPTH

Detailed Description

Provides overrides of canTransform() that correctly end when the nodelet is asked to unload.

See issue https://github.com/ros/geometry2/issues/381 for more details.

Definition at line 27 of file nodelet_aware_tf_buffer.h.

Constructor & Destructor Documentation

◆ NodeletAwareTFBuffer() [1/2]

cras::NodeletAwareTFBuffer::NodeletAwareTFBuffer	(	const ::nodelet::Nodelet &	nodelet,
		const ::ros::Duration &	cacheTime = `::ros::Duration(::tf2::BufferCore::DEFAULT_CACHE_TIME)`
	)

explicit

Create the buffer.

Parameters

[in]	nodelet	The stateful nodelet to be aware of.
[in]	cacheTime	How long to keep a history of transforms

◆ NodeletAwareTFBuffer() [2/2]

cras::NodeletAwareTFBuffer::NodeletAwareTFBuffer	(	const ::nodelet::Nodelet &	nodelet,
		const ::std::shared_ptr<::tf2::BufferCore > &	parentBuffer
	)

Create the buffer that relays lookups to the given parentBuffer.

Parameters

[in]	nodelet	The stateful nodelet to be aware of.
[in]	parentBuffer	The buffer to relay lookups to. It may be null.

◆ ~NodeletAwareTFBuffer()

cras::NodeletAwareTFBuffer::~NodeletAwareTFBuffer ( )

override

Member Function Documentation

◆ ok()

bool cras::NodeletAwareTFBuffer::ok ( ) const

overridevirtual

Whether it is OK to continue sleeping. If false, a pending sleep() should stop as soon as possible.

Returns: Whether it is OK to continue.

Note: Always override this function as its default implementation returns false (used in case this function is called after the descendant parts of the objects have already been destructed).

Reimplemented from cras::InterruptibleSleepInterface.

Member Data Documentation

◆ nodelet

const ::nodelet::Nodelet& cras::NodeletAwareTFBuffer::nodelet

protected

The stateful nodelet to be aware of.

Definition at line 52 of file nodelet_aware_tf_buffer.h.

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

nodelet_aware_tf_buffer.h

Public Member Functions

Protected Attributes

Additional Inherited Members