Public Member Functions | Protected Member Functions | Private Member Functions | Private Attributes
tf::TransformListener Class Reference

This class inherits from Transformer and automatically subscribes to ROS transform messages. More...

#include <transform_listener.h>

Inheritance diagram for tf::TransformListener:
Inheritance graph
[legend]

List of all members.

Public Member Functions

bool getFrames (tf::FrameGraph::Request &, tf::FrameGraph::Response &res)
std::string resolve (const std::string &frame_name)
 TransformListener (ros::Duration max_cache_time=ros::Duration(DEFAULT_CACHE_TIME), bool spin_thread=true)
 Constructor for transform listener.
 TransformListener (const ros::NodeHandle &nh, ros::Duration max_cache_time=ros::Duration(DEFAULT_CACHE_TIME), bool spin_thread=true)
 Alternate constructor for transform listener.
void transformPoint (const std::string &target_frame, const geometry_msgs::PointStamped &stamped_in, geometry_msgs::PointStamped &stamped_out) const
 Transform a Stamped Point Message into the target frame This can throw all that lookupTransform can throw as well as tf::InvalidTransform.
void transformPoint (const std::string &target_frame, const ros::Time &target_time, const geometry_msgs::PointStamped &pin, const std::string &fixed_frame, geometry_msgs::PointStamped &pout) const
 Transform a Stamped Point Message into the target frame and time This can throw all that lookupTransform can throw as well as tf::InvalidTransform.
void transformPointCloud (const std::string &target_frame, const sensor_msgs::PointCloud &pcin, sensor_msgs::PointCloud &pcout) const
 Transform a sensor_msgs::PointCloud natively This can throw all that lookupTransform can throw as well as tf::InvalidTransform.
void transformPointCloud (const std::string &target_frame, const ros::Time &target_time, const sensor_msgs::PointCloud &pcin, const std::string &fixed_frame, sensor_msgs::PointCloud &pcout) const
 Transform a sensor_msgs::PointCloud in space and time This can throw all that lookupTransform can throw as well as tf::InvalidTransform.
void transformPose (const std::string &target_frame, const geometry_msgs::PoseStamped &stamped_in, geometry_msgs::PoseStamped &stamped_out) const
 Transform a Stamped Pose Message into the target frame This can throw all that lookupTransform can throw as well as tf::InvalidTransform.
void transformPose (const std::string &target_frame, const ros::Time &target_time, const geometry_msgs::PoseStamped &pin, const std::string &fixed_frame, geometry_msgs::PoseStamped &pout) const
 Transform a Stamped Pose Message into the target frame and time This can throw all that lookupTransform can throw as well as tf::InvalidTransform.
void transformQuaternion (const std::string &target_frame, const geometry_msgs::QuaternionStamped &stamped_in, geometry_msgs::QuaternionStamped &stamped_out) const
 Transform a Stamped Quaternion Message into the target frame This can throw all that lookupTransform can throw as well as tf::InvalidTransform.
void transformQuaternion (const std::string &target_frame, const ros::Time &target_time, const geometry_msgs::QuaternionStamped &qin, const std::string &fixed_frame, geometry_msgs::QuaternionStamped &qout) const
 Transform a Stamped Quaternion Message into the target frame This can throw all that lookupTransform can throw as well as tf::InvalidTransform.
void transformVector (const std::string &target_frame, const geometry_msgs::Vector3Stamped &stamped_in, geometry_msgs::Vector3Stamped &stamped_out) const
 Transform a Stamped Vector Message into the target frame This can throw all that lookupTransform can throw as well as tf::InvalidTransform.
void transformVector (const std::string &target_frame, const ros::Time &target_time, const geometry_msgs::Vector3Stamped &vin, const std::string &fixed_frame, geometry_msgs::Vector3Stamped &vout) const
 Transform a Stamped Vector Message into the target frame and time This can throw all that lookupTransform can throw as well as tf::InvalidTransform.
 ~TransformListener ()

Protected Member Functions

bool ok () const

Private Member Functions

void transformPointCloud (const std::string &target_frame, const Transform &transform, const ros::Time &target_time, const sensor_msgs::PointCloud &pcin, sensor_msgs::PointCloud &pcout) const
 a helper function to be used for both transfrom pointCloud methods

Private Attributes

ros::NodeHandle node_
tf2_ros::TransformListener tf2_listener_
 replacing implementation with tf2_ros'

Detailed Description

This class inherits from Transformer and automatically subscribes to ROS transform messages.

Definition at line 69 of file transform_listener.h.


Constructor & Destructor Documentation

TransformListener::TransformListener ( ros::Duration  max_cache_time = ros::Duration(DEFAULT_CACHE_TIME),
bool  spin_thread = true 
)

Constructor for transform listener.

Parameters:
max_cache_timeHow long to store transform information

Definition at line 43 of file transform_listener.cpp.

TransformListener::TransformListener ( const ros::NodeHandle nh,
ros::Duration  max_cache_time = ros::Duration(DEFAULT_CACHE_TIME),
bool  spin_thread = true 
)

Alternate constructor for transform listener.

Parameters:
nhThe NodeHandle to use for any ROS interaction
max_cache_timeHow long to store transform information

Definition at line 49 of file transform_listener.cpp.

Definition at line 55 of file transform_listener.cpp.


Member Function Documentation

bool tf::TransformListener::getFrames ( tf::FrameGraph::Request &  ,
tf::FrameGraph::Response &  res 
) [inline]
Todo:
move to high precision laser projector class void projectAndTransformLaserScan(const sensor_msgs::LaserScan& scan_in, sensor_msgs::PointCloud& pcout);

Definition at line 147 of file transform_listener.h.

bool TransformListener::ok ( ) const [protected, virtual]

Reimplemented from tf::Transformer.

Definition at line 61 of file transform_listener.cpp.

std::string tf::TransformListener::resolve ( const std::string &  frame_name) [inline]

Definition at line 154 of file transform_listener.h.

void TransformListener::transformPoint ( const std::string &  target_frame,
const geometry_msgs::PointStamped &  stamped_in,
geometry_msgs::PointStamped &  stamped_out 
) const

Transform a Stamped Point Message into the target frame This can throw all that lookupTransform can throw as well as tf::InvalidTransform.

Definition at line 87 of file transform_listener.cpp.

void TransformListener::transformPoint ( const std::string &  target_frame,
const ros::Time target_time,
const geometry_msgs::PointStamped &  pin,
const std::string &  fixed_frame,
geometry_msgs::PointStamped &  pout 
) const

Transform a Stamped Point Message into the target frame and time This can throw all that lookupTransform can throw as well as tf::InvalidTransform.

Definition at line 162 of file transform_listener.cpp.

void TransformListener::transformPointCloud ( const std::string &  target_frame,
const sensor_msgs::PointCloud &  pcin,
sensor_msgs::PointCloud &  pcout 
) const

Transform a sensor_msgs::PointCloud natively This can throw all that lookupTransform can throw as well as tf::InvalidTransform.

Definition at line 184 of file transform_listener.cpp.

void TransformListener::transformPointCloud ( const std::string &  target_frame,
const ros::Time target_time,
const sensor_msgs::PointCloud &  pcin,
const std::string &  fixed_frame,
sensor_msgs::PointCloud &  pcout 
) const

Transform a sensor_msgs::PointCloud in space and time This can throw all that lookupTransform can throw as well as tf::InvalidTransform.

Definition at line 191 of file transform_listener.cpp.

void TransformListener::transformPointCloud ( const std::string &  target_frame,
const Transform transform,
const ros::Time target_time,
const sensor_msgs::PointCloud &  pcin,
sensor_msgs::PointCloud &  pcout 
) const [private]

a helper function to be used for both transfrom pointCloud methods

Definition at line 217 of file transform_listener.cpp.

void TransformListener::transformPose ( const std::string &  target_frame,
const geometry_msgs::PoseStamped &  stamped_in,
geometry_msgs::PoseStamped &  stamped_out 
) const

Transform a Stamped Pose Message into the target frame This can throw all that lookupTransform can throw as well as tf::InvalidTransform.

Definition at line 97 of file transform_listener.cpp.

void TransformListener::transformPose ( const std::string &  target_frame,
const ros::Time target_time,
const geometry_msgs::PoseStamped &  pin,
const std::string &  fixed_frame,
geometry_msgs::PoseStamped &  pout 
) const

Transform a Stamped Pose Message into the target frame and time This can throw all that lookupTransform can throw as well as tf::InvalidTransform.

Definition at line 172 of file transform_listener.cpp.

void TransformListener::transformQuaternion ( const std::string &  target_frame,
const geometry_msgs::QuaternionStamped &  stamped_in,
geometry_msgs::QuaternionStamped &  stamped_out 
) const

Transform a Stamped Quaternion Message into the target frame This can throw all that lookupTransform can throw as well as tf::InvalidTransform.

Definition at line 65 of file transform_listener.cpp.

void TransformListener::transformQuaternion ( const std::string &  target_frame,
const ros::Time target_time,
const geometry_msgs::QuaternionStamped &  qin,
const std::string &  fixed_frame,
geometry_msgs::QuaternionStamped &  qout 
) const

Transform a Stamped Quaternion Message into the target frame This can throw all that lookupTransform can throw as well as tf::InvalidTransform.

Definition at line 141 of file transform_listener.cpp.

void TransformListener::transformVector ( const std::string &  target_frame,
const geometry_msgs::Vector3Stamped &  stamped_in,
geometry_msgs::Vector3Stamped &  stamped_out 
) const

Transform a Stamped Vector Message into the target frame This can throw all that lookupTransform can throw as well as tf::InvalidTransform.

Definition at line 77 of file transform_listener.cpp.

void TransformListener::transformVector ( const std::string &  target_frame,
const ros::Time target_time,
const geometry_msgs::Vector3Stamped &  vin,
const std::string &  fixed_frame,
geometry_msgs::Vector3Stamped &  vout 
) const

Transform a Stamped Vector Message into the target frame and time This can throw all that lookupTransform can throw as well as tf::InvalidTransform.

Definition at line 152 of file transform_listener.cpp.


Member Data Documentation

Definition at line 167 of file transform_listener.h.

replacing implementation with tf2_ros'

Definition at line 170 of file transform_listener.h.


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


tf
Author(s): Tully Foote, Eitan Marder-Eppstein, Wim Meeussen
autogenerated on Sat Feb 24 2018 03:56:42