tf2_ros::BufferServer Class Reference

Action server for the actionlib-based implementation of tf2_ros::BufferInterface. More...

#include <buffer_server.h>

Classes
struct	GoalInfo

Public Member Functions
	BufferServer (const Buffer &buffer, const std::string &ns, bool auto_start=true, ros::Duration check_period=ros::Duration(0.01))
	Constructor. More...
void	start ()
	Start the action server. More...

Private Types
typedef LookupTransformServer::GoalHandle	GoalHandle
typedef actionlib::ActionServer< tf2_msgs::LookupTransformAction >	LookupTransformServer

Private Member Functions
void	cancelCB (GoalHandle gh)
bool	canTransform (GoalHandle gh)
void	checkTransforms (const ros::TimerEvent &e)
void	goalCB (GoalHandle gh)
geometry_msgs::TransformStamped	lookupTransform (GoalHandle gh)

Private Attributes
std::list< GoalInfo >	active_goals_
const Buffer &	buffer_
ros::Timer	check_timer_
boost::mutex	mutex_
LookupTransformServer	server_

Detailed Description

Action server for the actionlib-based implementation of tf2_ros::BufferInterface.

Use this class with a tf2_ros::TransformListener in the same process. You can use this class with a tf2_ros::BufferClient in a different process.

Definition at line 87 of file buffer_server.h.

Member Typedef Documentation

GoalHandle

typedef LookupTransformServer::GoalHandle tf2_ros::BufferServer::GoalHandle

private

Definition at line 126 of file buffer_server.h.

LookupTransformServer

typedef actionlib::ActionServer<tf2_msgs::LookupTransformAction> tf2_ros::BufferServer::LookupTransformServer

private

Definition at line 125 of file buffer_server.h.

Constructor & Destructor Documentation

BufferServer()

tf2_ros::BufferServer::BufferServer	(	const Buffer &	buffer,
		const std::string &	ns,
		bool	auto_start = true,
		ros::Duration	check_period = ros::Duration(0.01)
	)

Constructor.

Parameters

buffer	The Buffer that this BufferServer will wrap.
ns	The namespace in which to look for action clients.
auto_start	Pass argument to the constructor of the ActionServer.
check_period	How often to check for changes to known transforms (via a timer event).

Definition at line 76 of file buffer_server.cpp.

Member Function Documentation

cancelCB()

void tf2_ros::BufferServer::cancelCB ( GoalHandle  gh )

private

Definition at line 149 of file buffer_server.cpp.

canTransform()

bool tf2_ros::BufferServer::canTransform ( GoalHandle  gh )

private

Definition at line 228 of file buffer_server.cpp.

checkTransforms()

void tf2_ros::BufferServer::checkTransforms ( const ros::TimerEvent &  e )

private

Definition at line 88 of file buffer_server.cpp.

goalCB()

void tf2_ros::BufferServer::goalCB ( GoalHandle  gh )

private

Definition at line 169 of file buffer_server.cpp.

lookupTransform()

geometry_msgs::TransformStamped tf2_ros::BufferServer::lookupTransform ( GoalHandle  gh )

private

Definition at line 240 of file buffer_server.cpp.

start()

void tf2_ros::BufferServer::start

(

)

Start the action server.

Definition at line 252 of file buffer_server.cpp.

Member Data Documentation

active_goals_

std::list<GoalInfo> tf2_ros::BufferServer::active_goals_

private

Definition at line 157 of file buffer_server.h.

buffer_

const Buffer& tf2_ros::BufferServer::buffer_

private

Definition at line 155 of file buffer_server.h.

check_timer_

ros::Timer tf2_ros::BufferServer::check_timer_

private

Definition at line 159 of file buffer_server.h.

mutex_

boost::mutex tf2_ros::BufferServer::mutex_

private

Definition at line 158 of file buffer_server.h.

server_

LookupTransformServer tf2_ros::BufferServer::server_

private

Definition at line 156 of file buffer_server.h.

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

• buffer_server.h
• buffer_server.cpp