44 BufferCore(cache_time)
53 geometry_msgs::TransformStamped
62 geometry_msgs::TransformStamped
64 const std::string& source_frame,
const ros::Time& source_time,
65 const std::string& fixed_frame,
const ros::Duration timeout)
const 67 canTransform(target_frame, target_time, source_frame, source_time, fixed_frame, timeout);
68 return lookupTransform(target_frame, target_time, source_frame, source_time, fixed_frame);
111 std::stringstream ss;
113 <<
" timeout was " << timeout.
toSec() <<
".";
114 (*errstr) += ss.str();
141 bool retval =
canTransform(target_frame, source_frame, time, errstr);
149 const std::string& source_frame,
const ros::Time& source_time,
150 const std::string& fixed_frame,
const ros::Duration timeout, std::string* errstr)
const 165 !
canTransform(target_frame, target_time, source_frame, source_time, fixed_frame) &&
171 bool retval =
canTransform(target_frame, target_time, source_frame, source_time, fixed_frame, errstr);
ros::Time now_fallback_to_wall()
ROSCPP_DECL bool isInitialized()
void sleep_fallback_to_wall(const ros::Duration &d)
std::string allFramesAsYAML() const
ServiceServer advertiseService(const std::string &service, bool(T::*srv_func)(MReq &, MRes &), T *obj)
static const std::string threading_error
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
Test if a transform is possible.
static const double CAN_TRANSFORM_POLLING_SCALE
virtual geometry_msgs::TransformStamped lookupTransform(const std::string &target_frame, const std::string &source_frame, const ros::Time &time, const ros::Duration timeout) const
Get the transform between two frames by frame ID.
void conditionally_append_timeout_info(std::string *errstr, const ros::Time &start_time, const ros::Duration &timeout)
bool isUsingDedicatedThread() const
ros::ServiceServer frames_server_
bool getFrames(tf2_msgs::FrameGraph::Request &req, tf2_msgs::FrameGraph::Response &res)
ROSCPP_DECL bool exists(const std::string &service_name, bool print_failure_reason)
bool checkAndErrorDedicatedThreadPresent(std::string *errstr) const
Buffer(ros::Duration cache_time=ros::Duration(BufferCore::DEFAULT_CACHE_TIME), bool debug=false)
Constructor for a Buffer object.