#include <buffer.h>
Public Member Functions | |
| Buffer (ros::Duration cache_time=ros::Duration(BufferCore::DEFAULT_CACHE_TIME), bool debug=true) | |
| Constructor for a Buffer object. | |
| virtual bool | canTransform (const std::string &target_frame, const std::string &source_frame, const ros::Time &target_time, const ros::Duration timeout, std::string *errstr=NULL) const |
| Test if a transform is possible. | |
| virtual bool | canTransform (const std::string &target_frame, const ros::Time &target_time, const std::string &source_frame, const ros::Time &source_time, const std::string &fixed_frame, const ros::Duration timeout, std::string *errstr=NULL) const |
| Test if a transform is possible. | |
| virtual geometry_msgs::TransformStamped | lookupTransform (const std::string &target_frame, const std::string &source_frame, const ros::Time &time, const ros::Duration timeout) const |
| Get the transform between two frames by frame ID. | |
| virtual geometry_msgs::TransformStamped | lookupTransform (const std::string &target_frame, const ros::Time &target_time, const std::string &source_frame, const ros::Time &source_time, const std::string &fixed_frame, const ros::Duration timeout) const |
| Get the transform between two frames by frame ID assuming fixed frame. | |
Private Member Functions | |
| bool | getFrames (tf2_msgs::FrameGraph::Request &req, tf2_msgs::FrameGraph::Response &res) |
Private Attributes | |
| ros::ServiceServer | frames_server_ |
| tf2::Buffer::Buffer | ( | ros::Duration | cache_time = ros::Duration(BufferCore::DEFAULT_CACHE_TIME), |
| bool | debug = true |
||
| ) |
Constructor for a Buffer object.
| cache_time | How long to keep a history of transforms |
| debug | Whether to advertise the view_frames service that exposes debugging information from the buffer |
Definition at line 38 of file buffer.cpp.
| bool tf2::Buffer::canTransform | ( | const std::string & | target_frame, |
| const std::string & | source_frame, | ||
| const ros::Time & | target_time, | ||
| const ros::Duration | timeout, | ||
| std::string * | errstr = NULL |
||
| ) | const [virtual] |
Test if a transform is possible.
| target_frame | The frame into which to transform |
| source_frame | The frame from which to transform |
| time | The time at which to transform |
| timeout | How long to block before failing |
| errstr | A pointer to a string which will be filled with why the transform failed, if not NULL |
Implements tf2::BufferInterface.
Definition at line 67 of file buffer.cpp.
| bool tf2::Buffer::canTransform | ( | const std::string & | target_frame, |
| const ros::Time & | target_time, | ||
| const std::string & | source_frame, | ||
| const ros::Time & | source_time, | ||
| const std::string & | fixed_frame, | ||
| const ros::Duration | timeout, | ||
| std::string * | errstr = NULL |
||
| ) | const [virtual] |
Test if a transform is possible.
| target_frame | The frame into which to transform |
| target_time | The time into which to transform |
| source_frame | The frame from which to transform |
| source_time | The time from which to transform |
| fixed_frame | The frame in which to treat the transform as constant in time |
| timeout | How long to block before failing |
| errstr | A pointer to a string which will be filled with why the transform failed, if not NULL |
Implements tf2::BufferInterface.
Definition at line 80 of file buffer.cpp.
| bool tf2::Buffer::getFrames | ( | tf2_msgs::FrameGraph::Request & | req, |
| tf2_msgs::FrameGraph::Response & | res | ||
| ) | [inline, private] |
| geometry_msgs::TransformStamped tf2::Buffer::lookupTransform | ( | const std::string & | target_frame, |
| const std::string & | source_frame, | ||
| const ros::Time & | time, | ||
| const ros::Duration | timeout | ||
| ) | const [virtual] |
Get the transform between two frames by frame ID.
| target_frame | The frame to which data should be transformed |
| source_frame | The frame where the data originated |
| time | The time at which the value of the transform is desired. (0 will get the latest) |
| timeout | How long to block before failing |
Possible exceptions tf2::LookupException, tf2::ConnectivityException, tf2::ExtrapolationException, tf2::InvalidArgumentException
Implements tf2::BufferInterface.
Definition at line 48 of file buffer.cpp.
| geometry_msgs::TransformStamped tf2::Buffer::lookupTransform | ( | const std::string & | target_frame, |
| const ros::Time & | target_time, | ||
| const std::string & | source_frame, | ||
| const ros::Time & | source_time, | ||
| const std::string & | fixed_frame, | ||
| const ros::Duration | timeout | ||
| ) | const [virtual] |
Get the transform between two frames by frame ID assuming fixed frame.
| target_frame | The frame to which data should be transformed |
| target_time | The time to which the data should be transformed. (0 will get the latest) |
| source_frame | The frame where the data originated |
| source_time | The time at which the source_frame should be evaluated. (0 will get the latest) |
| fixed_frame | The frame in which to assume the transform is constant in time. |
| timeout | How long to block before failing |
Possible exceptions tf2::LookupException, tf2::ConnectivityException, tf2::ExtrapolationException, tf2::InvalidArgumentException
Implements tf2::BufferInterface.
Definition at line 57 of file buffer.cpp.
