Helper class for transforming data into Ogre's world frame (the fixed frame). More...

#include <frame_manager.h>

Classes
struct	CacheEntry
struct	CacheKey
Public Types
enum	SyncMode { SyncOff = 0, SyncExact, SyncApprox }
Signals
void	fixedFrameChanged ()
	Emitted whenever the fixed frame changes.
Public Member Functions
std::string	discoverFailureReason (const std::string &frame_id, const ros::Time &stamp, const std::string &caller_id, tf::FilterFailureReason reason)
	Create a description of a transform problem.
bool	frameHasProblems (const std::string &frame, ros::Time time, std::string &error)
	Check to see if a frame exists in the tf::TransformListener.
	FrameManager (boost::shared_ptr< tf::TransformListener > tf=boost::shared_ptr< tf::TransformListener >())
	Constructor.
const std::string &	getFixedFrame ()
	Return the current fixed frame name.
bool	getPause ()
SyncMode	getSyncMode ()
tf::TransformListener *	getTFClient ()
	Return the tf::TransformListener used to receive transform data.
const boost::shared_ptr < tf::TransformListener > &	getTFClientPtr ()
	Return a boost shared pointer to the tf::TransformListener used to receive transform data.
ros::Time	getTime ()
	Get current time, depending on the sync mode.
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.
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.
template<class M >
void	registerFilterForTransformStatusCheck (tf::MessageFilter< M > filter, Display display)
	Connect a tf::MessageFilter's callbacks to success and failure handler functions in this FrameManager.
void	setFixedFrame (const std::string &frame)
	Set the frame to consider "fixed", into which incoming data is transformed.
void	setPause (bool pause)
	Enable/disable pause mode.
void	setSyncMode (SyncMode mode)
	Set synchronization mode (off/exact/approximate)
void	syncTime (ros::Time time)
	Synchronize with given time.
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.
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.
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.
void	update ()
	Clear the internal cache.
	~FrameManager ()
	Destructor.
Private Types
typedef std::map< CacheKey, CacheEntry >	M_Cache
Private Member Functions
bool	adjustTime (const std::string &frame, ros::Time &time)
template<class M >
void	failureCallback (const ros::MessageEvent< M const > &msg_evt, tf::FilterFailureReason 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)
void	messageFailed (const std::string &frame_id, const ros::Time &stamp, const std::string &caller_id, tf::FilterFailureReason reason, 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_
boost::shared_ptr < tf::TransformListener >	tf_

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 63 of file frame_manager.h.

Member Typedef Documentation

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

Definition at line 263 of file frame_manager.h.

Member Enumeration Documentation

enum rviz::FrameManager::SyncMode

Enumerator:

SyncOff
SyncExact
SyncApprox

Definition at line 68 of file frame_manager.h.

Constructor & Destructor Documentation

rviz::FrameManager::FrameManager ( boost::shared_ptr< tf::TransformListener > tf = boost::shared_ptr< tf::TransformListener >() )

Constructor.

Parameters:

tf	a pointer to tf::TransformListener (should not be used anywhere else because of thread safety)

rviz::FrameManager::~FrameManager ( )

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.

Member Function Documentation

bool rviz::FrameManager::adjustTime	(	const std::string &	frame,
		ros::Time &	time
	)		`[private]`

std::string rviz::FrameManager::discoverFailureReason	(	const std::string &	frame_id,
		const ros::Time &	stamp,
		const std::string &	caller_id,
		tf::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 tf::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.

template<class M >

void rviz::FrameManager::failureCallback	(	const ros::MessageEvent< M const > &	msg_evt,
		tf::FilterFailureReason	reason,
		Display *	display
	)		`[inline, private]`

Definition at line 221 of file frame_manager.h.

void rviz::FrameManager::fixedFrameChanged ( ) [signal]

Emitted whenever the fixed frame changes.

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

Check to see if a frame exists in the tf::TransformListener.

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.

const std::string& rviz::FrameManager::getFixedFrame ( ) [inline]

Return the current fixed frame name.

Definition at line 181 of file frame_manager.h.

bool rviz::FrameManager::getPause ( ) [inline]

Definition at line 95 of file frame_manager.h.

SyncMode rviz::FrameManager::getSyncMode ( ) [inline]

Definition at line 100 of file frame_manager.h.

tf::TransformListener* rviz::FrameManager::getTFClient ( ) [inline]

Return the tf::TransformListener used to receive transform data.

Definition at line 184 of file frame_manager.h.

const boost::shared_ptr<tf::TransformListener>& rviz::FrameManager::getTFClientPtr ( ) [inline]

Return a boost shared pointer to the tf::TransformListener used to receive transform data.

Definition at line 187 of file frame_manager.h.

ros::Time rviz::FrameManager::getTime ( ) [inline]

Get current time, depending on the sync mode.

Definition at line 106 of file frame_manager.h.

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 114 of file frame_manager.h.

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.

void rviz::FrameManager::messageArrived	(	const std::string &	frame_id,
		const ros::Time &	stamp,
		const std::string &	caller_id,
		Display *	display
	)		`[private]`

template<class M >

void rviz::FrameManager::messageCallback	(	const ros::MessageEvent< M const > &	msg_evt,
		Display *	display
	)		`[inline, private]`

Definition at line 212 of file frame_manager.h.

void rviz::FrameManager::messageFailed	(	const std::string &	frame_id,
		const ros::Time &	stamp,
		const std::string &	caller_id,
		tf::FilterFailureReason	reason,
		Display *	display
	)		`[private]`

template<class M >

void rviz::FrameManager::registerFilterForTransformStatusCheck	(	tf::MessageFilter< M > *	filter,
		Display *	display
	)		`[inline]`

Connect a tf::MessageFilter's callbacks to success and failure handler functions in this FrameManager.

Parameters:

filter	The tf::MessageFilter to connect to.
display	The Display using the filter.

FrameManager has internal functions for handling success and failure of tf::MessageFilters which call Display::setStatus() based on success or failure of the filter, including appropriate error messages.

Definition at line 174 of file frame_manager.h.

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.

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

Enable/disable pause mode.

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

Set synchronization mode (off/exact/approximate)

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

Synchronize with given time.

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 134 of file frame_manager.h.

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.

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.