Helper class for transforming data into Ogre's world frame (the fixed frame). More...

#include <frame_manager.h>

Inheritance diagram for rviz::FrameManager:

Classes
struct	CacheEntry

struct	CacheKey

Public Types
enum	SyncMode { SyncOff = 0, SyncExact, SyncApprox }

Signals
void	fixedFrameChanged ()
	Emitted whenever the fixed frame changes. More...

Public Member Functions
std::string	discoverFailureReason (const std::string &frame_id, const ros::Time &stamp, const std::string &caller_id, tf::FilterFailureReason reason)
	Create a description of a transform problem. More...

std::string	discoverFailureReason (const std::string &frame_id, const ros::Time &stamp, const std::string &caller_id, tf2_ros::FilterFailureReason reason)

bool	frameHasProblems (const std::string &frame, ros::Time time, std::string &error)
	Check to see if a frame exists in the tf::TransformListener. More...

	FrameManager ()
	Default constructor, which will create a tf::TransformListener automatically. More...

	FrameManager (boost::shared_ptr< tf::TransformListener > tf)
	Constructor. More...

const std::string &	getFixedFrame ()
	Return the current fixed frame name. More...

bool	getPause ()

SyncMode	getSyncMode ()

const std::shared_ptr< tf2_ros::Buffer >	getTF2BufferPtr ()

tf::TransformListener *	getTFClient ()
	Return the tf::TransformListener used to receive transform data. More...

const boost::shared_ptr< tf::TransformListener > &	getTFClientPtr ()
	Return a boost shared pointer to the tf::TransformListener used to receive transform data. More...

ros::Time	getTime ()
	Get current time, depending on the sync mode. More...

template<typename Header >
bool	getTransform (const Header &header, Ogre::Vector3 &position, Ogre::Quaternion &orientation)
	Return the pose for a header, relative to the fixed frame, in Ogre classes. More...

bool	getTransform (const std::string &frame, ros::Time time, Ogre::Vector3 &position, Ogre::Quaternion &orientation)
	Return the pose for a frame relative to the fixed frame, in Ogre classes, at a given time. More...

template<class M >
void	registerFilterForTransformStatusCheck (tf::MessageFilter< M > filter, Display display)
	Connect a tf::MessageFilter's callbacks to success and failure handler functions in this FrameManager. More...

template<class M >
void	registerFilterForTransformStatusCheck (tf2_ros::MessageFilter< M > filter, Display display)

void	setFixedFrame (const std::string &frame)
	Set the frame to consider "fixed", into which incoming data is transformed. More...

void	setPause (bool pause)
	Enable/disable pause mode. More...

void	setSyncMode (SyncMode mode)
	Set synchronization mode (off/exact/approximate) More...

void	syncTime (ros::Time time)
	Synchronize with given time. More...

template<typename Header >
bool	transform (const Header &header, const geometry_msgs::Pose &pose, Ogre::Vector3 &position, Ogre::Quaternion &orientation)
	Transform a pose from a frame into the fixed frame. More...

bool	transform (const std::string &frame, ros::Time time, const geometry_msgs::Pose &pose, Ogre::Vector3 &position, Ogre::Quaternion &orientation)
	Transform a pose from a frame into the fixed frame. More...

bool	transformHasProblems (const std::string &frame, ros::Time time, std::string &error)
	Check to see if a transform is known between a given frame and the fixed frame. More...

void	update ()
	Clear the internal cache. More...

	~FrameManager () override
	Destructor. More...

Private Types
typedef std::map< CacheKey, CacheEntry >	M_Cache

Private Member Functions
bool	adjustTime (const std::string &frame, ros::Time &time)

template<class M , class TfFilterFailureReasonType >
void	failureCallback (const ros::MessageEvent< M const > &msg_evt, TfFilterFailureReasonType reason, Display *display)

void	messageArrived (const std::string &frame_id, const ros::Time &stamp, const std::string &caller_id, Display *display)

template<class M >
void	messageCallback (const ros::MessageEvent< M const > &msg_evt, Display *display)

template<class TfFilterFailureReasonType >
void	messageFailed (const std::string &frame_id, const ros::Time &stamp, const std::string &caller_id, TfFilterFailureReasonType reason, Display *display)

void	messageFailedImpl (const std::string &caller_id, const std::string &status_text, Display *display)

Private Attributes
M_Cache	cache_

boost::mutex	cache_mutex_

double	current_delta_

std::string	fixed_frame_

bool	pause_

double	sync_delta_

SyncMode	sync_mode_

ros::Time	sync_time_

boost::shared_ptr< tf::TransformListener >	tf_

Detailed Description

Helper class for transforming data into Ogre's world frame (the fixed frame).

During one frame update (nominally 33ms), the tf tree stays consistent and queries are cached for speedup.

Definition at line 70 of file frame_manager.h.

Member Typedef Documentation

◆ M_Cache

typedef std::map<CacheKey, CacheEntry> rviz::FrameManager::M_Cache

private

Definition at line 376 of file frame_manager.h.

Member Enumeration Documentation

◆ SyncMode

enum rviz::FrameManager::SyncMode

Enumerator
SyncOff
SyncExact
SyncApprox

Definition at line 74 of file frame_manager.h.

Constructor & Destructor Documentation

◆ FrameManager() [1/2]

rviz::FrameManager::FrameManager ( )

Default constructor, which will create a tf::TransformListener automatically.

Definition at line 47 of file frame_manager.cpp.

◆ FrameManager() [2/2]

rviz::FrameManager::FrameManager ( boost::shared_ptr< tf::TransformListener > tf )

explicitoptional

Constructor.

Parameters

tf	a pointer to tf::TransformListener (should not be used anywhere else because of thread safety)

Definition at line 55 of file frame_manager.cpp.

◆ ~FrameManager()

rviz::FrameManager::~FrameManager ( )

overrideoptional

Destructor.

FrameManager should not need to be destroyed by hand, just destroy the boost::shared_ptr returned by instance(), and it will be deleted when the last reference is removed.

Definition at line 66 of file frame_manager.cpp.

Member Function Documentation

◆ adjustTime()

bool rviz::FrameManager::adjustTime	(	const std::string &	frame,
		ros::Time &	time
	)

optionalprivate

Definition at line 163 of file frame_manager.cpp.

◆ discoverFailureReason() [1/2]

std::string rviz::FrameManager::discoverFailureReason	(	const std::string &	frame_id,
		const ros::Time &	stamp,
		const std::string &	caller_id,
		tf::FilterFailureReason	reason
	)

optional

Create a description of a transform problem.

Parameters

frame_id	The name of the frame with issues.
stamp	The time for which the problem was detected.
caller_id	Dummy parameter, not used.
reason	The reason given by the tf::MessageFilter in its failure callback.

Returns: An error message describing the problem.

Once a problem has been detected with a given frame or transform, call this to get an error message describing the problem.

Definition at line 352 of file frame_manager.cpp.

◆ discoverFailureReason() [2/2]

std::string rviz::FrameManager::discoverFailureReason	(	const std::string &	frame_id,
		const ros::Time &	stamp,
		const std::string &	caller_id,
		tf2_ros::FilterFailureReason	reason
	)

optional

Create a description of a transform problem.

Parameters

frame_id	The name of the frame with issues.
stamp	The time for which the problem was detected.
caller_id	Dummy parameter, not used.
reason	The reason given by the tf2_ros::MessageFilter in its failure callback.

Returns: An error message describing the problem.

Once a problem has been detected with a given frame or transform, call this to get an error message describing the problem.

Definition at line 375 of file frame_manager.cpp.

◆ failureCallback()

template<class M , class TfFilterFailureReasonType >

void rviz::FrameManager::failureCallback	(	const ros::MessageEvent< M const > &	msg_evt,
		TfFilterFailureReasonType	reason,
		Display *	display
	)

inlineoptionalprivate

Definition at line 308 of file frame_manager.h.

◆ fixedFrameChanged

void rviz::FrameManager::fixedFrameChanged ( )

optionalsignal

Emitted whenever the fixed frame changes.

◆ frameHasProblems()

bool rviz::FrameManager::frameHasProblems	(	const std::string &	frame,
		ros::Time	time,
		std::string &	error
	)

optional

Check to see if a frame exists in the tf::TransformListener.

Parameters

[in]	frame	The name of the frame to check.
[in]	time	Dummy parameter, not actually used.
[out]	error	If the frame does not exist, an error message is stored here.

Returns: true if the frame does not exist, false if it does exist.

Definition at line 295 of file frame_manager.cpp.

◆ getFixedFrame()

const std::string& rviz::FrameManager::getFixedFrame ( )

inlineoptional

Return the current fixed frame name.

Definition at line 238 of file frame_manager.h.

◆ getPause()

bool rviz::FrameManager::getPause ( )

inlineoptional

Definition at line 114 of file frame_manager.h.

◆ getSyncMode()

SyncMode rviz::FrameManager::getSyncMode ( )

inlineoptional

Definition at line 122 of file frame_manager.h.

◆ getTF2BufferPtr()

const std::shared_ptr<tf2_ros::Buffer> rviz::FrameManager::getTF2BufferPtr ( )

inlineoptional

Definition at line 257 of file frame_manager.h.

◆ getTFClient()

tf::TransformListener* rviz::FrameManager::getTFClient ( )

inlineoptional

Return the tf::TransformListener used to receive transform data.

Definition at line 244 of file frame_manager.h.

◆ getTFClientPtr()

const boost::shared_ptr<tf::TransformListener>& rviz::FrameManager::getTFClientPtr ( )

inlineoptional

Return a boost shared pointer to the tf::TransformListener used to receive transform data.

Definition at line 252 of file frame_manager.h.

◆ getTime()

ros::Time rviz::FrameManager::getTime ( )

inlineoptional

Get current time, depending on the sync mode.

Definition at line 131 of file frame_manager.h.

◆ getTransform() [1/2]

template<typename Header >

bool rviz::FrameManager::getTransform	(	const Header &	header,
		Ogre::Vector3 &	position,
		Ogre::Quaternion &	orientation
	)

inlineoptional

Return the pose for a header, relative to the fixed frame, in Ogre classes.

Parameters

[in]	header	The source of the frame name and time.
[out]	position	The position of the header frame relative to the fixed frame.
[out]	orientation	The orientation of the header frame relative to the fixed frame.

Returns: true on success, false on failure.

Definition at line 142 of file frame_manager.h.

◆ getTransform() [2/2]

bool rviz::FrameManager::getTransform	(	const std::string &	frame,
		ros::Time	time,
		Ogre::Vector3 &	position,
		Ogre::Quaternion &	orientation
	)

optional

Return the pose for a frame relative to the fixed frame, in Ogre classes, at a given time.

Parameters

[in]	frame	The frame to find the pose of.
[in]	time	The time at which to get the pose.
[out]	position	The position of the frame relative to the fixed frame.
[out]	orientation	The orientation of the frame relative to the fixed frame.

Returns: true on success, false on failure.

Definition at line 204 of file frame_manager.cpp.

◆ messageArrived()

void rviz::FrameManager::messageArrived	(	const std::string &	frame_id,
		const ros::Time &	stamp,
		const std::string &	caller_id,
		Display *	display
	)

optionalprivate

Definition at line 398 of file frame_manager.cpp.

◆ messageCallback()

template<class M >

void rviz::FrameManager::messageCallback	(	const ros::MessageEvent< M const > &	msg_evt,
		Display *	display
	)

inlineoptionalprivate

Definition at line 299 of file frame_manager.h.

◆ messageFailed()

template<class TfFilterFailureReasonType >

void rviz::FrameManager::messageFailed	(	const std::string &	frame_id,
		const ros::Time &	stamp,
		const std::string &	caller_id,
		TfFilterFailureReasonType	reason,
		Display *	display
	)

inlineoptionalprivate

Definition at line 326 of file frame_manager.h.

◆ messageFailedImpl()

void rviz::FrameManager::messageFailedImpl	(	const std::string &	caller_id,
		const std::string &	status_text,
		Display *	display
	)

optionalprivate

Definition at line 406 of file frame_manager.cpp.

◆ registerFilterForTransformStatusCheck() [1/2]

template<class M >

void rviz::FrameManager::registerFilterForTransformStatusCheck	(	tf::MessageFilter< M > *	filter,
		Display *	display
	)

inlineoptional

Connect a tf::MessageFilter's callbacks to success and failure handler functions in this FrameManager.

Parameters

filter	The tf::MessageFilter to connect to.
display	The Display using the filter.

FrameManager has internal functions for handling success and failure of tf::MessageFilters which call Display::setStatus() based on success or failure of the filter, including appropriate error messages.

Definition at line 214 of file frame_manager.h.

◆ registerFilterForTransformStatusCheck() [2/2]

template<class M >

void rviz::FrameManager::registerFilterForTransformStatusCheck	(	tf2_ros::MessageFilter< M > *	filter,
		Display *	display
	)

inlineoptional

Connect success and failure callbacks to a tf2_ros::MessageFilter.

Parameters

filter	The tf2_ros::MessageFilter to connect to.
display	The Display using the filter.

FrameManager has internal functions for handling success and failure of tf2_ros::MessageFilters which call Display::setStatus() based on success or failure of the filter, including appropriate error messages.

Definition at line 230 of file frame_manager.h.

◆ setFixedFrame()

void rviz::FrameManager::setFixedFrame ( const std::string & frame )

optional

Set the frame to consider "fixed", into which incoming data is transformed.

The fixed frame serves as the reference for all getTransform() and transform() functions in FrameManager.

Definition at line 103 of file frame_manager.cpp.

◆ setPause()

void rviz::FrameManager::setPause ( bool pause )

optional

Enable/disable pause mode.

Definition at line 122 of file frame_manager.cpp.

◆ setSyncMode()

void rviz::FrameManager::setSyncMode ( SyncMode mode )

optional

Set synchronization mode (off/exact/approximate)

Definition at line 127 of file frame_manager.cpp.

◆ syncTime()

void rviz::FrameManager::syncTime ( ros::Time time )

optional

Synchronize with given time.

Definition at line 135 of file frame_manager.cpp.

◆ transform() [1/2]

template<typename Header >

bool rviz::FrameManager::transform	(	const Header &	header,
		const geometry_msgs::Pose &	pose,
		Ogre::Vector3 &	position,
		Ogre::Quaternion &	orientation
	)

inlineoptional

Transform a pose from a frame into the fixed frame.

Parameters

[in]	header	The source of the input frame and time.
[in]	pose	The input pose, relative to the header frame.
[out]	position	Position part of pose relative to the fixed frame.
[out]	orientation	Orientation part of pose relative to the fixed frame.

Returns: true on success, false on failure.

Definition at line 165 of file frame_manager.h.

◆ transform() [2/2]

bool rviz::FrameManager::transform	(	const std::string &	frame,
		ros::Time	time,
		const geometry_msgs::Pose &	pose,
		Ogre::Vector3 &	position,
		Ogre::Quaternion &	orientation
	)

optional

Transform a pose from a frame into the fixed frame.

Parameters

[in]	frame	The input frame.
[in]	time	The time at which to get the pose.
[in]	pose	The input pose, relative to the input frame.
[out]	position	Position part of pose relative to the fixed frame.
[out]	orientation	Orientation part of pose relative to the fixed frame.

Returns: true on success, false on failure.

Definition at line 245 of file frame_manager.cpp.

◆ transformHasProblems()

bool rviz::FrameManager::transformHasProblems	(	const std::string &	frame,
		ros::Time	time,
		std::string &	error
	)

optional

Check to see if a transform is known between a given frame and the fixed frame.

Parameters

[in]	frame	The name of the frame to check.
[in]	time	The time at which the transform is desired.
[out]	error	If the transform is not known, an error message is stored here.

Returns: true if the transform is not known, false if it is.

Definition at line 310 of file frame_manager.cpp.

◆ update()

void rviz::FrameManager::update ( )

optional

Clear the internal cache.

Definition at line 70 of file frame_manager.cpp.

Member Data Documentation

◆ cache_

M_Cache rviz::FrameManager::cache_

private

Definition at line 379 of file frame_manager.h.

◆ cache_mutex_

boost::mutex rviz::FrameManager::cache_mutex_

private

Definition at line 378 of file frame_manager.h.

◆ current_delta_

double rviz::FrameManager::current_delta_

private

Definition at line 393 of file frame_manager.h.

◆ fixed_frame_

std::string rviz::FrameManager::fixed_frame_

private

Definition at line 382 of file frame_manager.h.

◆ pause_

bool rviz::FrameManager::pause_

private

Definition at line 384 of file frame_manager.h.

◆ sync_delta_

double rviz::FrameManager::sync_delta_

private

Definition at line 392 of file frame_manager.h.

◆ sync_mode_

SyncMode rviz::FrameManager::sync_mode_

private

Definition at line 386 of file frame_manager.h.

◆ sync_time_

ros::Time rviz::FrameManager::sync_time_

private

Definition at line 389 of file frame_manager.h.

◆ tf_

boost::shared_ptr<tf::TransformListener> rviz::FrameManager::tf_

private

Definition at line 381 of file frame_manager.h.

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

Classes

Public Types

Signals

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ M_Cache

Member Enumeration Documentation

◆ SyncMode

Constructor & Destructor Documentation

◆ FrameManager() [1/2]

◆ FrameManager() [2/2]

◆ ~FrameManager()

Member Function Documentation

◆ adjustTime()

◆ discoverFailureReason() [1/2]

◆ discoverFailureReason() [2/2]

◆ failureCallback()

◆ fixedFrameChanged

◆ frameHasProblems()

◆ getFixedFrame()

◆ getPause()

◆ getSyncMode()

◆ getTF2BufferPtr()

◆ getTFClient()

◆ getTFClientPtr()

◆ getTime()

◆ getTransform() [1/2]

◆ getTransform() [2/2]

◆ messageArrived()

◆ messageCallback()

◆ messageFailed()

◆ messageFailedImpl()

◆ registerFilterForTransformStatusCheck() [1/2]

◆ registerFilterForTransformStatusCheck() [2/2]

◆ setFixedFrame()

◆ setPause()

◆ setSyncMode()

◆ syncTime()

◆ transform() [1/2]

◆ transform() [2/2]

◆ transformHasProblems()

◆ update()

Member Data Documentation

◆ cache_

◆ cache_mutex_

◆ current_delta_

◆ fixed_frame_

◆ pause_

◆ sync_delta_

◆ sync_mode_

◆ sync_time_

◆ tf_