A Class which provides coordinate transforms between any two frames in a system. More...
#include <buffer_core.h>
Classes | |
struct | RemoveRequestByCallback |
struct | RemoveRequestByID |
struct | TransformableRequest |
Public Types | |
typedef boost::function< void(TransformableRequestHandle request_handle, const std::string &target_frame, const std::string &source_frame, ros::Time time, TransformableResult result)> | TransformableCallback |
Public Member Functions | |
boost::signals2::connection | _addTransformsChangedListener (boost::function< void(void)> callback) |
Add a callback that happens when a new transform has arrived. More... | |
std::string | _allFramesAsDot (double current_time) const |
Backwards compatabilityA way to see what frames have been cached Useful for debugging. More... | |
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 |
Backwards compatabilityA way to see what frames are in a chain Useful for debugging. More... | |
bool | _frameExists (const std::string &frame_id_str) const |
Check if a frame exists in the tree. More... | |
void | _getFrameStrings (std::vector< std::string > &ids) const |
A way to get a std::vector of available frame ids. More... | |
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 |
Fill the parent of a frame. More... | |
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) |
Internal use only. More... | |
TransformableRequestHandle | addTransformableRequest (TransformableCallbackHandle handle, const std::string &target_frame, const std::string &source_frame, ros::Time time) |
Internal use only. More... | |
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 |
BufferCore (ros::Duration cache_time_=ros::Duration(DEFAULT_CACHE_TIME)) | |
void | cancelTransformableRequest (TransformableRequestHandle handle) |
Internal use only. More... | |
bool | canTransform (const std::string &target_frame, const std::string &source_frame, const ros::Time &time, std::string *error_msg=NULL) 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=NULL) 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... | |
bool | isUsingDedicatedThread () const |
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... | |
void | removeTransformableCallback (TransformableCallbackHandle handle) |
Internal use only. 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... | |
void | setUsingDedicatedThread (bool value) |
virtual | ~BufferCore (void) |
Static Public Attributes | |
static const int | DEFAULT_CACHE_TIME = 10 |
The default amount of time to cache data in seconds. More... | |
static const uint32_t | MAX_GRAPH_DEPTH = 1000UL |
Maximum graph search depth (deeper graphs will be assumed to have loops) More... | |
Private Types | |
typedef boost::unordered_map< std::string, CompactFrameID > | M_StringToCompactFrameID |
A map from string frame ids to CompactFrameID. More... | |
typedef boost::unordered_map< TransformableCallbackHandle, TransformableCallback > | M_TransformableCallback |
typedef boost::signals2::signal< void(void)> | TransformsChangedSignal |
typedef std::vector< TimeCacheInterfacePtr > | V_TimeCacheInterface |
The pointers to potential frames that the tree can be made of. The frames will be dynamically allocated at run time when set the first time. More... | |
typedef std::vector< TransformableRequest > | V_TransformableRequest |
Private Member Functions | |
std::string | allFramesAsStringNoLock () const |
A way to see what frames have been cached Useful for debugging. Use this call internally. More... | |
TimeCacheInterfacePtr | allocateFrame (CompactFrameID cfid, bool is_static) |
bool | canTransformInternal (CompactFrameID target_id, CompactFrameID source_id, const ros::Time &time, std::string *error_msg) const |
bool | canTransformNoLock (CompactFrameID target_id, CompactFrameID source_id, const ros::Time &time, std::string *error_msg) const |
void | createConnectivityErrorString (CompactFrameID source_frame, CompactFrameID target_frame, std::string *out) const |
TimeCacheInterfacePtr | getFrame (CompactFrameID c_frame_id) const |
An accessor to get a frame, which will throw an exception if the frame is no there. More... | |
int | getLatestCommonTime (CompactFrameID target_frame, CompactFrameID source_frame, ros::Time &time, std::string *error_string) const |
Return the latest rostime which is common across the spanning set zero if fails to cross. More... | |
CompactFrameID | lookupFrameNumber (const std::string &frameid_str) const |
String to number for frame lookup with dynamic allocation of new frames. More... | |
const std::string & | lookupFrameString (CompactFrameID frame_id_num) const |
Number to string frame lookup may throw LookupException if number invalid. More... | |
CompactFrameID | lookupOrInsertFrameNumber (const std::string &frameid_str) |
String to number for frame lookup with dynamic allocation of new frames. More... | |
void | testTransformableRequests () |
CompactFrameID | validateFrameId (const char *function_name_arg, const std::string &frame_id) const |
template<typename F > | |
int | walkToTopParent (F &f, ros::Time time, CompactFrameID target_id, CompactFrameID source_id, std::string *error_string) const |
template<typename F > | |
int | walkToTopParent (F &f, ros::Time time, CompactFrameID target_id, CompactFrameID source_id, std::string *error_string, std::vector< CompactFrameID > *frame_chain) const |
Traverse the transform tree. If frame_chain is not NULL, store the traversed frame tree in vector frame_chain. More... | |
bool | warnFrameId (const char *function_name_arg, const std::string &frame_id) const |
Private Attributes | |
TransformsChangedSignal | _transforms_changed_ |
Signal which is fired whenever new transform data has arrived, from the thread the data arrived in. More... | |
ros::Duration | cache_time_ |
How long to cache transform history. More... | |
std::map< CompactFrameID, std::string > | frame_authority_ |
A map to lookup the most recent authority for a given frame. More... | |
boost::mutex | frame_mutex_ |
A mutex to protect testing and allocating new frames on the above vector. More... | |
M_StringToCompactFrameID | frameIDs_ |
std::vector< std::string > | frameIDs_reverse |
A map from CompactFrameID frame_id_numbers to string for debugging and output. More... | |
V_TimeCacheInterface | frames_ |
M_TransformableCallback | transformable_callbacks_ |
uint32_t | transformable_callbacks_counter_ |
boost::mutex | transformable_callbacks_mutex_ |
V_TransformableRequest | transformable_requests_ |
uint64_t | transformable_requests_counter_ |
boost::mutex | transformable_requests_mutex_ |
bool | using_dedicated_thread_ |
Friends | |
class | TestBufferCore |
A Class which provides coordinate transforms between any two frames in a system.
This class provides a simple interface to allow recording and lookup of relationships between arbitrary frames of the system.
libTF assumes that there is a tree of coordinate frame transforms which define the relationship between all coordinate frames. For example your typical robot would have a transform from global to real world. And then from base to hand, and from base to head. But Base to Hand really is composed of base to shoulder to elbow to wrist to hand. libTF is designed to take care of all the intermediate steps for you.
Internal Representation libTF will store frames with the parameters necessary for generating the transform into that frame from it's parent and a reference to the parent frame. Frames are designated using an std::string 0 is a frame without a parent (the top of a tree) The positions of frames over time must be pushed in.
All function calls which pass frame ids can potentially throw the exception tf::LookupException
Definition at line 88 of file buffer_core.h.
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A map from string frame ids to CompactFrameID.
Definition at line 327 of file buffer_core.h.
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Definition at line 338 of file buffer_core.h.
typedef boost::function<void(TransformableRequestHandle request_handle, const std::string& target_frame, const std::string& source_frame, ros::Time time, TransformableResult result)> tf2::BufferCore::TransformableCallback |
Definition at line 227 of file buffer_core.h.
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Definition at line 359 of file buffer_core.h.
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The pointers to potential frames that the tree can be made of. The frames will be dynamically allocated at run time when set the first time.
Definition at line 320 of file buffer_core.h.
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Definition at line 353 of file buffer_core.h.
tf2::BufferCore::BufferCore | ( | ros::Duration | cache_time_ = ros::Duration(DEFAULT_CACHE_TIME) | ) |
Constructor
interpolating | Whether to interpolate, if this is false the closest value will be returned |
cache_time | How long to keep a history of transforms in nanoseconds |
Definition at line 168 of file buffer_core.cpp.
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Definition at line 179 of file buffer_core.cpp.
boost::signals2::connection tf2::BufferCore::_addTransformsChangedListener | ( | boost::function< void(void)> | callback | ) |
Add a callback that happens when a new transform has arrived.
callback | The callback, of the form void func(); |
Definition at line 1349 of file buffer_core.cpp.
std::string tf2::BufferCore::_allFramesAsDot | ( | double | current_time | ) | const |
Backwards compatabilityA way to see what frames have been cached Useful for debugging.
Definition at line 1488 of file buffer_core.cpp.
std::string tf2::BufferCore::_allFramesAsDot | ( | ) | const |
Definition at line 1572 of file buffer_core.cpp.
void tf2::BufferCore::_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 |
Backwards compatabilityA way to see what frames are in a chain Useful for debugging.
Definition at line 1577 of file buffer_core.cpp.
bool tf2::BufferCore::_frameExists | ( | const std::string & | frame_id_str | ) | const |
Check if a frame exists in the tree.
frame_id_str | The frame id in question |
Definition at line 1362 of file buffer_core.cpp.
void tf2::BufferCore::_getFrameStrings | ( | std::vector< std::string > & | ids | ) | const |
A way to get a std::vector of available frame ids.
Definition at line 1386 of file buffer_core.cpp.
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Definition at line 285 of file buffer_core.h.
bool tf2::BufferCore::_getParent | ( | const std::string & | frame_id, |
ros::Time | time, | ||
std::string & | parent | ||
) | const |
Fill the parent of a frame.
frame_id | The frame id of the frame in question |
parent | The reference to the string to fill the parent Returns true unless "NO_PARENT" |
Definition at line 1368 of file buffer_core.cpp.
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Definition at line 278 of file buffer_core.h.
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Definition at line 281 of file buffer_core.h.
void tf2::BufferCore::_removeTransformsChangedListener | ( | boost::signals2::connection | c | ) |
Definition at line 1355 of file buffer_core.cpp.
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Definition at line 290 of file buffer_core.h.
TransformableCallbackHandle tf2::BufferCore::addTransformableCallback | ( | const TransformableCallback & | cb | ) |
Internal use only.
Definition at line 1226 of file buffer_core.cpp.
TransformableRequestHandle tf2::BufferCore::addTransformableRequest | ( | TransformableCallbackHandle | handle, |
const std::string & | target_frame, | ||
const std::string & | source_frame, | ||
ros::Time | time | ||
) |
Internal use only.
Definition at line 1266 of file buffer_core.cpp.
std::string tf2::BufferCore::allFramesAsString | ( | ) | const |
A way to see what frames have been cached Useful for debugging.
Definition at line 948 of file buffer_core.cpp.
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A way to see what frames have been cached Useful for debugging. Use this call internally.
regular transforms
Definition at line 954 of file buffer_core.cpp.
std::string tf2::BufferCore::allFramesAsYAML | ( | double | current_time | ) | const |
A way to see what frames have been cached in yaml format Useful for debugging tools.
Definition at line 1164 of file buffer_core.cpp.
std::string tf2::BufferCore::allFramesAsYAML | ( | ) | const |
Backwards compatibility for #84
Definition at line 1221 of file buffer_core.cpp.
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Definition at line 287 of file buffer_core.cpp.
void tf2::BufferCore::cancelTransformableRequest | ( | TransformableRequestHandle | handle | ) |
Internal use only.
Definition at line 1335 of file buffer_core.cpp.
bool tf2::BufferCore::canTransform | ( | const std::string & | target_frame, |
const std::string & | source_frame, | ||
const ros::Time & | time, | ||
std::string * | error_msg = NULL |
||
) | const |
Test if a transform is possible.
target_frame | The frame into which to transform |
source_frame | The frame from which to transform |
time | The time at which to transform |
error_msg | A pointer to a string which will be filled with why the transform failed, if not NULL |
Definition at line 799 of file buffer_core.cpp.
bool tf2::BufferCore::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 |
Test if a transform is possible.
target_frame | The frame into which to transform |
target_time | The time into which to transform |
source_frame | The frame from which to transform |
source_time | The time from which to transform |
fixed_frame | The frame in which to treat the transform as constant in time |
error_msg | A pointer to a string which will be filled with why the transform failed, if not NULL |
Definition at line 838 of file buffer_core.cpp.
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Definition at line 792 of file buffer_core.cpp.
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Definition at line 755 of file buffer_core.cpp.
void tf2::BufferCore::clear | ( | ) |
Clear all data.
Definition at line 184 of file buffer_core.cpp.
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Definition at line 937 of file buffer_core.cpp.
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Get the duration over which this transformer will cache.
Definition at line 295 of file buffer_core.h.
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An accessor to get a frame, which will throw an exception if the frame is no there.
frame_number | The frameID of the desired Reference Frame |
This is an internal function which will get the pointer to the frame associated with the frame id Possible Exception: tf::LookupException
Definition at line 885 of file buffer_core.cpp.
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Return the latest rostime which is common across the spanning set zero if fails to cross.
Definition at line 995 of file buffer_core.cpp.
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Definition at line 245 of file buffer_core.h.
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String to number for frame lookup with dynamic allocation of new frames.
Definition at line 895 of file buffer_core.cpp.
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Number to string frame lookup may throw LookupException if number invalid.
Definition at line 925 of file buffer_core.cpp.
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String to number for frame lookup with dynamic allocation of new frames.
Definition at line 908 of file buffer_core.cpp.
geometry_msgs::TransformStamped tf2::BufferCore::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.
target_frame | The frame to which data should be transformed |
source_frame | The frame where the data originated |
time | The time at which the value of the transform is desired. (0 will get the latest) |
Possible exceptions tf2::LookupException, tf2::ConnectivityException, tf2::ExtrapolationException, tf2::InvalidArgumentException
Definition at line 591 of file buffer_core.cpp.
geometry_msgs::TransformStamped tf2::BufferCore::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.
target_frame | The frame to which data should be transformed |
target_time | The time to which the data should be transformed. (0 will get the latest) |
source_frame | The frame where the data originated |
source_time | The time at which the source_frame should be evaluated. (0 will get the latest) |
fixed_frame | The frame in which to assume the transform is constant in time. |
Possible exceptions tf2::LookupException, tf2::ConnectivityException, tf2::ExtrapolationException, tf2::InvalidArgumentException
Definition at line 647 of file buffer_core.cpp.
void tf2::BufferCore::removeTransformableCallback | ( | TransformableCallbackHandle | handle | ) |
Internal use only.
Definition at line 1252 of file buffer_core.cpp.
bool tf2::BufferCore::setTransform | ( | const geometry_msgs::TransformStamped & | transform, |
const std::string & | authority, | ||
bool | is_static = false |
||
) |
Add transform information to the tf data structure.
transform | The transform to store |
authority | The source of the information for this transform |
is_static | Record this transform as a static transform. It will be good across all time. (This cannot be changed after the first call.) |
Definition at line 201 of file buffer_core.cpp.
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Definition at line 243 of file buffer_core.h.
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Definition at line 1405 of file buffer_core.cpp.
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Definition at line 141 of file buffer_core.cpp.
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Definition at line 309 of file buffer_core.cpp.
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Traverse the transform tree. If frame_chain is not NULL, store the traversed frame tree in vector frame_chain.
Definition at line 315 of file buffer_core.cpp.
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Definition at line 120 of file buffer_core.cpp.
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Definition at line 417 of file buffer_core.h.
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Signal which is fired whenever new transform data has arrived, from the thread the data arrived in.
Definition at line 364 of file buffer_core.h.
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How long to cache transform history.
Definition at line 336 of file buffer_core.h.
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The default amount of time to cache data in seconds.
Definition at line 92 of file buffer_core.h.
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A map to lookup the most recent authority for a given frame.
Definition at line 332 of file buffer_core.h.
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A mutex to protect testing and allocating new frames on the above vector.
Definition at line 324 of file buffer_core.h.
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Definition at line 328 of file buffer_core.h.
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A map from CompactFrameID frame_id_numbers to string for debugging and output.
Definition at line 330 of file buffer_core.h.
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Definition at line 321 of file buffer_core.h.
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Maximum graph search depth (deeper graphs will be assumed to have loops)
Definition at line 93 of file buffer_core.h.
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Definition at line 339 of file buffer_core.h.
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Definition at line 340 of file buffer_core.h.
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Definition at line 341 of file buffer_core.h.
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Definition at line 354 of file buffer_core.h.
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Definition at line 356 of file buffer_core.h.
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Definition at line 355 of file buffer_core.h.
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Definition at line 414 of file buffer_core.h.