generic_control_toolbox::TFManager Class Reference

#include <tf_manager.hpp>

Inheritance diagram for generic_control_toolbox::TFManager:

Public Member Functions
bool	getPoseInFrame (const std::string &frame, const geometry_msgs::PoseStamped &pose, geometry_msgs::PoseStamped &out)
	TFManager (ros::NodeHandle nh=ros::NodeHandle("~"))
	~TFManager ()
Public Member Functions inherited from generic_control_toolbox::ManagerBase
	ManagerBase ()
virtual	~ManagerBase ()

Private Member Functions
bool	getParam ()

Private Attributes
tf::TransformListener	listener_
int	max_tf_attempts_
ros::NodeHandle	nh_

Detailed Description

Provides helper methods to handle common TF queries.

Definition at line 14 of file tf_manager.hpp.

Constructor & Destructor Documentation

TFManager()

generic_control_toolbox::TFManager::TFManager

(

ros::NodeHandle

nh = ros::NodeHandle("~")

)

Definition at line 5 of file tf_manager.cpp.

~TFManager()

generic_control_toolbox::TFManager::~TFManager ( )

inline

Definition at line 18 of file tf_manager.hpp.

Member Function Documentation

getParam()

bool generic_control_toolbox::TFManager::getParam ( )

private

Definition at line 46 of file tf_manager.cpp.

getPoseInFrame()

bool generic_control_toolbox::TFManager::getPoseInFrame	(	const std::string &	frame,
		const geometry_msgs::PoseStamped &	pose,
		geometry_msgs::PoseStamped &	out
	)

Convert a pose to another frame using the TF tree. Handles TF exceptions.

Parameters

frame	The target frame to which to transform the given pose.
pose	The given pose. queried, after which a failure is assumed.
out	The given pose in the given frame.

Returns

False is the listener fails to produce an answer

Definition at line 13 of file tf_manager.cpp.

Member Data Documentation

listener_

tf::TransformListener generic_control_toolbox::TFManager::listener_

private

Definition at line 38 of file tf_manager.hpp.

max_tf_attempts_

int generic_control_toolbox::TFManager::max_tf_attempts_

private

Definition at line 37 of file tf_manager.hpp.

nh_

ros::NodeHandle generic_control_toolbox::TFManager::nh_

private

Definition at line 36 of file tf_manager.hpp.

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

• tf_manager.hpp
• tf_manager.cpp