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, SyncFrame }

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, tf2_ros::FilterFailureReason reason)

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

	FrameManager (std::shared_ptr< tf2_ros::Buffer > tf_buffer=std::shared_ptr< tf2_ros::Buffer >(), std::shared_ptr< tf2_ros::TransformListener > tf_listener=std::shared_ptr< tf2_ros::TransformListener >())
	Constructor, will create a TransformListener (and Buffer) automatically if not provided. More...

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

bool	getPause ()

SyncMode	getSyncMode ()

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

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 (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
void	adjustTime (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_

std::shared_ptr< tf2_ros::Buffer >	tf_buffer_

std::shared_ptr< tf2_ros::TransformListener >	tf_listener_

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 64 of file frame_manager.h.

Member Typedef Documentation

◆ M_Cache

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

private

Definition at line 302 of file frame_manager.h.

Member Enumeration Documentation

◆ SyncMode

enum rviz::FrameManager::SyncMode

Enumerator
SyncOff
SyncExact
SyncApprox
SyncFrame

Definition at line 68 of file frame_manager.h.

Constructor & Destructor Documentation

◆ FrameManager()

rviz::FrameManager::FrameManager	(	std::shared_ptr< tf2_ros::Buffer >	tf_buffer = `std::shared_ptr<tf2_ros::Buffer>()`,
		std::shared_ptr< tf2_ros::TransformListener >	tf_listener = `std::shared_ptr<tf2_ros::TransformListener>()`
	)

explicit

Constructor, will create a TransformListener (and Buffer) automatically if not provided.

Definition at line 42 of file frame_manager.cpp.

◆ ~FrameManager()

rviz::FrameManager::~FrameManager ( )

override

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 56 of file frame_manager.cpp.

Member Function Documentation

◆ adjustTime()

void rviz::FrameManager::adjustTime ( ros::Time & time )

private

Definition at line 152 of file frame_manager.cpp.

◆ discoverFailureReason()

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

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 311 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
	)

inlineprivate

Definition at line 245 of file frame_manager.h.

◆ fixedFrameChanged

void rviz::FrameManager::fixedFrameChanged ( )

signal

Emitted whenever the fixed frame changes.

◆ frameHasProblems()

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

Check to see if a frame exists in our tf buffer.

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 257 of file frame_manager.cpp.

◆ getFixedFrame()

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

inline

Return the current fixed frame name.

Definition at line 204 of file frame_manager.h.

◆ getPause()

bool rviz::FrameManager::getPause ( )

inline

Definition at line 97 of file frame_manager.h.

◆ getSyncMode()

SyncMode rviz::FrameManager::getSyncMode ( )

inline

Definition at line 105 of file frame_manager.h.

◆ getTF2BufferPtr()

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

inline

Definition at line 209 of file frame_manager.h.

◆ getTime()

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

inline

Get current time, depending on the sync mode.

Definition at line 114 of file frame_manager.h.

◆ getTransform() [1/2]

template<typename Header >

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

inline

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 125 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
	)

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 171 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
	)

private

Definition at line 334 of file frame_manager.cpp.

◆ messageCallback()

template<class M >

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

inlineprivate

Definition at line 236 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
	)

inlineprivate

Definition at line 263 of file frame_manager.h.

◆ messageFailedImpl()

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

private

Definition at line 342 of file frame_manager.cpp.

◆ registerFilterForTransformStatusCheck()

template<class M >

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

inline

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 194 of file frame_manager.h.

◆ setFixedFrame()

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

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 91 of file frame_manager.cpp.

◆ setPause()

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

Enable/disable pause mode.

Definition at line 110 of file frame_manager.cpp.

◆ setSyncMode()

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

Set synchronization mode (off/exact/approximate)

Definition at line 115 of file frame_manager.cpp.

◆ syncTime()

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

Synchronize with given time.

Definition at line 123 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
	)

inline

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 148 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
	)

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 209 of file frame_manager.cpp.

◆ transformHasProblems()

bool rviz::FrameManager::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.

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 272 of file frame_manager.cpp.

◆ update()

void rviz::FrameManager::update ( )

Clear the internal cache.

Definition at line 60 of file frame_manager.cpp.

Member Data Documentation

◆ cache_

M_Cache rviz::FrameManager::cache_

private

Definition at line 305 of file frame_manager.h.

◆ cache_mutex_

boost::mutex rviz::FrameManager::cache_mutex_

private

Definition at line 304 of file frame_manager.h.

◆ current_delta_

double rviz::FrameManager::current_delta_

private

Definition at line 319 of file frame_manager.h.

◆ fixed_frame_

std::string rviz::FrameManager::fixed_frame_

private

Definition at line 309 of file frame_manager.h.

◆ pause_

bool rviz::FrameManager::pause_

private

Definition at line 311 of file frame_manager.h.

◆ sync_delta_

double rviz::FrameManager::sync_delta_

private

Definition at line 320 of file frame_manager.h.

◆ sync_mode_

SyncMode rviz::FrameManager::sync_mode_

private

Definition at line 313 of file frame_manager.h.

◆ sync_time_

ros::Time rviz::FrameManager::sync_time_

private

Definition at line 316 of file frame_manager.h.

◆ tf_buffer_

std::shared_ptr<tf2_ros::Buffer> rviz::FrameManager::tf_buffer_

private

Definition at line 307 of file frame_manager.h.

◆ tf_listener_

std::shared_ptr<tf2_ros::TransformListener> rviz::FrameManager::tf_listener_

private

Definition at line 308 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()

◆ ~FrameManager()

Member Function Documentation

◆ adjustTime()

◆ discoverFailureReason()

◆ failureCallback()

◆ fixedFrameChanged

◆ frameHasProblems()

◆ getFixedFrame()

◆ getPause()

◆ getSyncMode()

◆ getTF2BufferPtr()

◆ getTime()

◆ getTransform() [1/2]

◆ getTransform() [2/2]

◆ messageArrived()

◆ messageCallback()

◆ messageFailed()

◆ messageFailedImpl()

◆ registerFilterForTransformStatusCheck()

◆ 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_buffer_

◆ tf_listener_