Wrapper around tf::TransformListener to support non-TF transforms. More...

#include <transform_manager.h>

Public Member Functions
bool	GetTransform (const std::string &target_frame, const std::string &source_frame, const ros::Time &time, Transform &transform) const
	Get the Transform between two frames at a specified time.
bool	GetTransform (const std::string &target_frame, const std::string &source_frame, Transform &transform) const
	Get the most recent Transform between two frames.
bool	GetTransform (const std::string &target_frame, const std::string &source_frame, const ros::Time &time, tf::StampedTransform &transform) const
	Get the tf::Transform between two frames at a specified time.
bool	GetTransform (const std::string &target_frame, const std::string &source_frame, tf::StampedTransform &transform) const
	Get the most recent tf::Transform between two frames.
void	Initialize (boost::shared_ptr< tf::TransformListener > tf=boost::make_shared< tf::TransformListener >())
	Initialize the TransformManager with a tf::TransformListener.
bool	SupportsTransform (const std::string &target_frame, const std::string &source_frame) const
	Check whether the TransformManager supports transforms from source_frame to target_frame.
	TransformManager ()
	~TransformManager ()
Private Attributes
boost::shared_ptr < LocalXyWgs84Util >	local_xy_util_
boost::shared_ptr < tf::TransformListener >	tf_listener_
SourceTargetMap	transformers_

Detailed Description

Wrapper around tf::TransformListener to support non-TF transforms.

TransformManager wraps tf::TransformListener and provides a similar interface to get Transforms between TF frames, UTM, and WGS84.

TransformManager uses PluginLib to load all of the swri_transform_util::Transformer plugins it can find. To extend the functionality of TranformManager, create a new swri_transform_util::Transformer plugin that implements the desired transform.

Definition at line 62 of file transform_manager.h.

Constructor & Destructor Documentation

swri_transform_util::TransformManager::TransformManager ( )

swri_transform_util::TransformManager::~TransformManager ( )

Member Function Documentation

bool swri_transform_util::TransformManager::GetTransform	(	const std::string &	target_frame,
		const std::string &	source_frame,
		const ros::Time &	time,
		Transform &	transform
	)		const

Get the Transform between two frames at a specified time.

This function gets the transform from source_frame to target_frame at the specified time and returns it as a swri_transform_util::Transform.

The frame IDs for target_frame and source_frame can be either a frame id in the current TF tree or one of the special frames /UTM or /WGS84.

Parameters:

[in]	target_frame	The TF (or special) frame id of the target
[in]	source_frame	The TF (or special) frame id of the source
[in]	time	The requested time to request the transform. ros::Time(0) means the most recent time for which a valid transform is available.
[out]	transform	The transform requested. If the function returns false, transform is not mutated.

Returns:: True if the transform is supported and available at the requested time. False otherwise.

bool swri_transform_util::TransformManager::GetTransform	(	const std::string &	target_frame,
		const std::string &	source_frame,
		Transform &	transform
	)		const

Get the most recent Transform between two frames.

This function gets the most recent transform from source_frame to target_frame and returns it as a swri_transform_util::Transform.

The frame IDs for target_frame and source_frame can be either a frame id in the current TF tree or one of the special frames /UTM or /WGS84.

Parameters:

[in]	target_frame	The TF (or special) frame id of the target
[in]	source_frame	The TF (or special) frame id of the source
[out]	transform	The transform requested. If the function returns false, transform is not mutated

Returns:: True if the transform is supported and available. False otherwise.

bool swri_transform_util::TransformManager::GetTransform	(	const std::string &	target_frame,
		const std::string &	source_frame,
		const ros::Time &	time,
		tf::StampedTransform &	transform
	)		const

Get the tf::Transform between two frames at a specified time.

This function is a thin wrapper around the tf::TransformListener. Only TF frames are supported.

Parameters:

[in]	target_frame	The TF frame id of the target
[in]	source_frame	The TF frame id of the source
[in]	time	The requested time to request the transform. ros::Time(0) means the most recent time for which a valid transform is available.
[out]	transform	The transform requested. If the function returns false, transform is not mutated.

Returns:: True if the transform is available at the requested time. False otherwise.

bool swri_transform_util::TransformManager::GetTransform	(	const std::string &	target_frame,
		const std::string &	source_frame,
		tf::StampedTransform &	transform
	)		const

Get the most recent tf::Transform between two frames.

This function is a thin wrapper around the tf::TransformListener. Only TF frames are supported.

Parameters:

[in]	target_frame	The TF frame id of the target
[in]	source_frame	The TF frame id of the source
[out]	transform	The transform requested. If the function returns false, transform is not mutated.

Returns:: True if the transform is available. False otherwise.

void swri_transform_util::TransformManager::Initialize ( boost::shared_ptr< tf::TransformListener > tf = boost::make_shared< tf::TransformListener >() )

Initialize the TransformManager with a tf::TransformListener.

The TransformManager must be initialized before it can be used.

Parameters:

tf	A shared pointer to a tf::TransformListener that the Transformer wraps.

bool swri_transform_util::TransformManager::SupportsTransform	(	const std::string &	target_frame,
		const std::string &	source_frame
	)		const

Check whether the TransformManager supports transforms from source_frame to target_frame.

Supporting a transform does not imply that the TransformManager supports the inverse.

Parameters:

[in]	target_frame	The TF (or special) frame id of the target
[in]	source_frame	The TF (or special) frame id of the source

Returns:: True if the transform is supported. False if the transform is unsupported.

Member Data Documentation

boost::shared_ptr<LocalXyWgs84Util> swri_transform_util::TransformManager::local_xy_util_ [private]

Definition at line 182 of file transform_manager.h.

boost::shared_ptr<tf::TransformListener> swri_transform_util::TransformManager::tf_listener_ [private]

Definition at line 180 of file transform_manager.h.

SourceTargetMap swri_transform_util::TransformManager::transformers_ [private]

Definition at line 184 of file transform_manager.h.

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

transform_manager.h

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation