tf_remapper_cpp::TfRemapper Class Reference

Remap frames in TF messages according to given rules. More...

#include <tf_remapper.h>

Public Types
typedef std::map< std::string, std::string >	MappingsType

Public Member Functions
void	doRemapping (tf2_msgs::TFMessage &message) const
	Rewrite TF frame names according to the rules given in constructor. More...
tf2_msgs::TFMessage	doRemapping (const tf2_msgs::TFMessage &inMessage) const
	Rewrite TF frame names according to the rules given in constructor. More...
const MappingsType &	getMappings () const
	Get the mappings this remapper uses. More...
	TfRemapper ()
	Empty constructor with no remappings. More...
	TfRemapper (MappingsType mappings, bool reverse=false)
	Create the remapper from a constructed set of mappings. More...
	TfRemapper (const XmlRpc::XmlRpcValue &mappingsParam, bool reverse=false)
	Create the remapper from a XmlRpcValue as read by ros::NodeHandle::getParam(). More...
virtual	~TfRemapper ()

Protected Attributes
MappingsType	mappings
	The mappings (keys are old frame names, values are remapped names). More...

Detailed Description

Remap frames in TF messages according to given rules.

Definition at line 10 of file tf_remapper.h.

Member Typedef Documentation

MappingsType

typedef std::map<std::string, std::string> tf_remapper_cpp::TfRemapper::MappingsType

Definition at line 12 of file tf_remapper.h.

Constructor & Destructor Documentation

TfRemapper() [1/3]

tf_remapper_cpp::TfRemapper::TfRemapper

(

)

Empty constructor with no remappings.

Definition at line 5 of file tf_remapper.cpp.

TfRemapper() [2/3]

tf_remapper_cpp::TfRemapper::TfRemapper ( MappingsType  mappings, bool  reverse = false  )

explicit

Create the remapper from a constructed set of mappings.

Parameters

mappings	The mappings to use (keys are old frame names, values are remapped names).
reverse	If true, switch role of keys and values in the given map. Entries with empty values are omitted.

Exceptions

ros::InvalidParameterException

if an 'old' key has empty value.

Definition at line 9 of file tf_remapper.cpp.

TfRemapper() [3/3]

tf_remapper_cpp::TfRemapper::TfRemapper ( const XmlRpc::XmlRpcValue &  mappingsParam, bool  reverse = false  )

explicit

Create the remapper from a XmlRpcValue as read by ros::NodeHandle::getParam().

Parameters

mappingsParam	The XML-RPC-parsed value of the ROS parameter 'mappings'. It is expected to be an array of dicts, each of which contains keys 'old' and 'new'. At least on of them has to have nonempty value. Empty values mark tf frames to be deleted in the given direction.
reverse	If true, switch role of 'old' and 'new' in the given map. Entries with empty 'new' are omitted.

Exceptions

ros::InvalidParameterException	if an 'old' key has empty value.
ros::InvalidParameterException	if the mappings do not satisfy the given format.

Definition at line 25 of file tf_remapper.cpp.

~TfRemapper()

tf_remapper_cpp::TfRemapper::~TfRemapper ( )

virtual

Definition at line 7 of file tf_remapper.cpp.

Member Function Documentation

doRemapping() [1/2]

void tf_remapper_cpp::TfRemapper::doRemapping

(

tf2_msgs::TFMessage &

message

)

const

Rewrite TF frame names according to the rules given in constructor.

Parameters

message

The original message which is to be modified.

Definition at line 68 of file tf_remapper.cpp.

doRemapping() [2/2]

tf2_msgs::TFMessage tf_remapper_cpp::TfRemapper::doRemapping

(

const tf2_msgs::TFMessage &

inMessage

)

const

Rewrite TF frame names according to the rules given in constructor.

Parameters

inMessage

The original message.

Returns

A copy of the original message with rewritten TF frame names.

Definition at line 62 of file tf_remapper.cpp.

getMappings()

const tf_remapper_cpp::TfRemapper::MappingsType & tf_remapper_cpp::TfRemapper::getMappings

(

)

const

Get the mappings this remapper uses.

Returns

The mappings (keys are old frame names, values are remapped names).

Definition at line 92 of file tf_remapper.cpp.

Member Data Documentation

mappings

MappingsType tf_remapper_cpp::TfRemapper::mappings

protected

The mappings (keys are old frame names, values are remapped names).

Definition at line 49 of file tf_remapper.h.

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

• tf_remapper.h
• tf_remapper.cpp