Wait for TF transformations for incoming messages. More...

#include <tf_filter.h>

Inheritance diagram for fkie_message_filters::TfFilter< Inputs >:

[legend]

Classes
struct	Impl

class	RosCB

Public Types
using	FilterFailureCB = std::function< void(const Inputs &..., TfFilterResult)>
	Callback for failed transform queries. More...

Public Types inherited from fkie_message_filters::Sink< Inputs... >
using	Input = IO< Inputs... >
	Grouped input types. More...

Public Types inherited from fkie_message_filters::Source< IO< Inputs... > >
using	Output = IO< Outputs... >
	Grouped output types. More...

Public Member Functions
void	init (tf2::BufferCore &bc, uint32_t queue_size, const ros::NodeHandle &nh) noexcept
	Initialize the filter. More...

void	init (tf2::BufferCore &bc, uint32_t queue_size, ros::CallbackQueueInterface *cbq) noexcept
	Initialize the filter. More...

void	reset () noexcept override
	Reset filter state. More...

void	set_filter_failure_function (FilterFailureCB cb)
	Register callback for failed transforms. More...

void	set_target_frame (const std::string &target_frame)
	Choose the TF target frame. More...

void	set_target_frames (const ros::V_string &target_frames)
	Choose the TF target frames. More...

	TfFilter () noexcept
	Empty constructor. More...

	TfFilter (tf2::BufferCore &bc, const ros::V_string &target_frames, uint32_t queue_size, const ros::NodeHandle &nh) noexcept
	Construct and initialize the filter. More...

	TfFilter (tf2::BufferCore &bc, const ros::V_string &target_frames, uint32_t queue_size, ros::CallbackQueueInterface *cbq) noexcept
	Construct and initialize the filter. More...

	TfFilter (tf2::BufferCore &bc, const std::string &target_frame, uint32_t queue_size, const ros::NodeHandle &nh) noexcept
	Construct and initialize the filter. More...

	TfFilter (tf2::BufferCore &bc, const std::string &target_frame, uint32_t queue_size, ros::CallbackQueueInterface *cbq) noexcept
	Construct and initialize the filter. More...

Public Member Functions inherited from fkie_message_filters::Sink< Inputs... >
Connection	connect_to_source (Source< Inputs... > &src) noexcept
	Connect this sink to a source. More...

void	disconnect_from_all_sources () noexcept
	Disconnect from all connected sources. More...

virtual	~Sink ()

Public Member Functions inherited from fkie_message_filters::FilterBase
virtual	~FilterBase ()

Public Member Functions inherited from fkie_message_filters::Source< IO< Inputs... > >
Connection	connect_to_sink (Sink< Outputs... > &dst) noexcept
	Connect this source to a sink. More...

void	disconnect_from_all_sinks () noexcept
	Disconnect from all connected sinks. More...

virtual	~Source ()

Protected Member Functions
void	receive (const Inputs &... in) override
	Process incoming data. More...

Protected Member Functions inherited from fkie_message_filters::Source< IO< Inputs... > >
void	send (const Outputs &... out)
	Pass data to all connected sinks. More...

Private Types
using	MessageTuple = std::tuple< Inputs... >

Private Member Functions
void	report_failure (std::unique_lock< std::mutex > &, const MessageTuple &, TfFilterResult)

void	send_message (std::unique_lock< std::mutex > &, const MessageTuple &m)

void	transformable (tf2::TransformableRequestHandle request_handle, const std::string &target_frame, const std::string &source_frame, ros::Time time, tf2::TransformableResult result)

Private Attributes
std::shared_ptr< Impl >	impl_

Additional Inherited Members
Static Public Attributes inherited from fkie_message_filters::Sink< Inputs... >
static constexpr std::size_t	NUM_INPUTS
	Number of input arguments. More...

Static Public Attributes inherited from fkie_message_filters::Source< IO< Inputs... > >
static constexpr std::size_t	NUM_OUTPUTS
	Number of output arguments. More...

Detailed Description

template<class... Inputs>
class fkie_message_filters::TfFilter< Inputs >

Wait for TF transformations for incoming messages.

This filter is intended to be used with a Subscriber as source, and will delay incoming messages until they can be transformed to the specified TF target frames. If the filter input is not unary, only the first argument is examined, which must have an accessible ROS header as determined by the ros::message_traits template.

namespace mf = fkie_message_filters;
 
mf::Subscriber<M> sub;
mf::TfFilter<mf::Subscriber<M>::Output> flt;
ros::NodeHandle nh;
 
sub.subscribe(nh, "topic", 10);
flt.init(tf2_buffer, "target_frame", 10, nh);
mf::chain(sub, flt);

Definition at line 90 of file tf_filter.h.

Member Typedef Documentation

◆ FilterFailureCB

template<class... Inputs>

using fkie_message_filters::TfFilter< Inputs >::FilterFailureCB = std::function<void(const Inputs&..., TfFilterResult)>

Callback for failed transform queries.

Definition at line 94 of file tf_filter.h.

◆ MessageTuple

template<class... Inputs>

using fkie_message_filters::TfFilter< Inputs >::MessageTuple = std::tuple<Inputs...>

private

Definition at line 210 of file tf_filter.h.

Constructor & Destructor Documentation

◆ TfFilter() [1/5]

template<class... Inputs>

fkie_message_filters::TfFilter< Inputs >::TfFilter ( )

inlinenoexcept

Empty constructor.

Constructs an uninitialized filter object. You need to call init() before you can use the object.

Definition at line 100 of file tf_filter.h.

◆ TfFilter() [2/5]

template<class... Inputs>

fkie_message_filters::TfFilter< Inputs >::TfFilter	(	tf2::BufferCore &	bc,
		const std::string &	target_frame,
		uint32_t	queue_size,
		const ros::NodeHandle &	nh
	)

noexcept

Construct and initialize the filter.

The constructor calls init() and set_target_frame() for you.

bc a TF2 buffer instance
target_frame the TF target frame for the incoming messages
queue_size the maximum number of queued messages
nh the ROS node handle whose callback queue is used to pass transformable messages

\nothrow

Definition at line 165 of file tf_filter_impl.h.

◆ TfFilter() [3/5]

template<class... Inputs>

fkie_message_filters::TfFilter< Inputs >::TfFilter	(	tf2::BufferCore &	bc,
		const std::string &	target_frame,
		uint32_t	queue_size,
		ros::CallbackQueueInterface *	cbq
	)

noexcept

Construct and initialize the filter.

The constructor calls init() and set_target_frame() for you.

bc a TF2 buffer instance
target_frame the TF target frame for the incoming messages
queue_size the maximum number of queued messages
cbq the ROS callback queue that is used to pass transformable messages. If nullptr, the send() function is called directly from the TF2 buffer callback or receive() method.

\nothrow

Definition at line 172 of file tf_filter_impl.h.

◆ TfFilter() [4/5]

template<class... Inputs>

fkie_message_filters::TfFilter< Inputs >::TfFilter	(	tf2::BufferCore &	bc,
		const ros::V_string &	target_frames,
		uint32_t	queue_size,
		const ros::NodeHandle &	nh
	)

noexcept

Construct and initialize the filter.

The constructor calls init() and set_target_frames() for you.

bc a TF2 buffer instance
target_frames the TF target frames for the incoming messages. Passed message will be transformable to all these frames.
queue_size the maximum number of queued messages
nh the ROS node handle whose callback queue is used to pass transformable messages

\nothrow

Definition at line 179 of file tf_filter_impl.h.

◆ TfFilter() [5/5]

template<class... Inputs>

fkie_message_filters::TfFilter< Inputs >::TfFilter	(	tf2::BufferCore &	bc,
		const ros::V_string &	target_frames,
		uint32_t	queue_size,
		ros::CallbackQueueInterface *	cbq
	)

noexcept

Construct and initialize the filter.

The constructor calls init() and set_target_frames() for you.

bc a TF2 buffer instance
target_frames the TF target frames for the incoming messages. Passed message will be transformable to all these frames.
queue_size the maximum number of queued messages
cbq the ROS callback queue that is used to pass transformable messages. If nullptr, the send() function is called directly from the TF2 buffer callback or receive() method.

\nothrow

Definition at line 186 of file tf_filter_impl.h.

Member Function Documentation

◆ init() [1/2]

template<class... Inputs>

void fkie_message_filters::TfFilter< Inputs >::init	(	tf2::BufferCore &	bc,
		uint32_t	queue_size,
		const ros::NodeHandle &	nh
	)

noexcept

Initialize the filter.

This function allocates internal data structures and makes the filter operational. If the function is called on an already initialized filter, the filter is reinitialized and reset() is called implicitly.

bc a TF2 buffer instance
queue_size the maximum number of queued messages
nh the ROS node handle whose callback queue is used to pass transformable messages

\nothrow

Definition at line 207 of file tf_filter_impl.h.

◆ init() [2/2]

template<class... Inputs>

void fkie_message_filters::TfFilter< Inputs >::init	(	tf2::BufferCore &	bc,
		uint32_t	queue_size,
		ros::CallbackQueueInterface *	cbq
	)

noexcept

Initialize the filter.

This function allocates internal data structures and makes the filter operational. If the function is called on an already initialized filter, the filter is reinitialized and reset() is called implicitly.

bc a TF2 buffer instance
queue_size the maximum number of queued messages
cbq the ROS callback queue that is used to pass transformable messages. If nullptr, the send() function is called directly from the TF2 buffer callback or receive() method.

\nothrow

Definition at line 193 of file tf_filter_impl.h.

◆ receive()

template<class... Inputs>

void fkie_message_filters::TfFilter< Inputs >::receive ( const Inputs &... in )

overrideprotectedvirtual

Process incoming data.

Derived classes need to override this method to handle all data that is to be consumed by the sink.

\abstractthrow

Implements fkie_message_filters::Sink< Inputs... >.

Definition at line 254 of file tf_filter_impl.h.

◆ report_failure()

template<class... Inputs>

void fkie_message_filters::TfFilter< Inputs >::report_failure	(	std::unique_lock< std::mutex > &	lock,
		const MessageTuple &	msg,
		TfFilterResult	reason
	)

private

Definition at line 339 of file tf_filter_impl.h.

◆ reset()

template<class... Inputs>

void fkie_message_filters::TfFilter< Inputs >::reset

overridevirtualnoexcept

Reset filter state.

Discards all queued messages. Existing connections to sources and sinks are unaffected.

\nothrow

Reimplemented from fkie_message_filters::FilterBase.

Definition at line 232 of file tf_filter_impl.h.

◆ send_message()

template<class... Inputs>

void fkie_message_filters::TfFilter< Inputs >::send_message	(	std::unique_lock< std::mutex > &	lock,
		const MessageTuple &	m
	)

private

Definition at line 364 of file tf_filter_impl.h.

◆ set_filter_failure_function()

template<class... Inputs>

void fkie_message_filters::TfFilter< Inputs >::set_filter_failure_function ( FilterFailureCB cb )

Register callback for failed transforms.

Whenever a message is discarded, this callback is called with the message and the reason why the TF transform failed.

cb callback function

Exceptions

std::logic_error if the filter is uninitialized

Definition at line 246 of file tf_filter_impl.h.

◆ set_target_frame()

template<class... Inputs>

void fkie_message_filters::TfFilter< Inputs >::set_target_frame ( const std::string & target_frame )

Choose the TF target frame.

target_frame all passed messages will be transformable to this TF frame

Exceptions

std::logic_error if the filter is uninitialized

Definition at line 226 of file tf_filter_impl.h.

◆ set_target_frames()

template<class... Inputs>

void fkie_message_filters::TfFilter< Inputs >::set_target_frames ( const ros::V_string & target_frames )

Choose the TF target frames.

target_frames all passed messages will be transformable to all these TF frames

Exceptions

std::logic_error if the filter is uninitialized

Definition at line 213 of file tf_filter_impl.h.

◆ transformable()

template<class... Inputs>

void fkie_message_filters::TfFilter< Inputs >::transformable	(	tf2::TransformableRequestHandle	request_handle,
		const std::string &	target_frame,
		const std::string &	source_frame,
		ros::Time	time,
		tf2::TransformableResult	result
	)

private

Definition at line 299 of file tf_filter_impl.h.

Member Data Documentation

◆ impl_

template<class... Inputs>

std::shared_ptr<Impl> fkie_message_filters::TfFilter< Inputs >::impl_

private

Definition at line 212 of file tf_filter.h.

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

Classes

Public Types

Public Member Functions

Protected Member Functions

Private Types

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

template<class... Inputs> class fkie_message_filters::TfFilter< Inputs >

Member Typedef Documentation

◆ FilterFailureCB

◆ MessageTuple

Constructor & Destructor Documentation

◆ TfFilter() [1/5]

◆ TfFilter() [2/5]

◆ TfFilter() [3/5]

◆ TfFilter() [4/5]

◆ TfFilter() [5/5]

Member Function Documentation

◆ init() [1/2]

◆ init() [2/2]

◆ receive()

◆ report_failure()

◆ reset()

◆ send_message()

◆ set_filter_failure_function()

◆ set_target_frame()

◆ set_target_frames()

◆ transformable()

Member Data Documentation

◆ impl_

template<class... Inputs>
class fkie_message_filters::TfFilter< Inputs >