Class TransformSource

Defined in File transform_collection.h

Inheritance Relationships

Derived Types

public warehouse_ros::LiveTransformSource (Class LiveTransformSource)
public warehouse_ros::TransformCollection (Class TransformCollection)

Class Documentation

class TransformSource

This abstract base class just makes it easier to write code that works for both TransformCollection and regular tf TransformListener objects

Subclassed by warehouse_ros::LiveTransformSource, warehouse_ros::TransformCollection

Public Functions

virtual geometry_msgs::msg::TransformStamped lookupTransform(const std::string &target_frame, const std::string &source_frame, double t) const = 0: Get the transform between two frames at a given timepoint. Can throw all the usual tf exceptions if the transform is unavailable.