tf::TimeCache Class Reference

A class to keep a sorted linked list in time This builds and maintains a list of timestamped data. And provides lookup functions to get data out as a function of time. More...

#include <time_cache.h>

Public Member Functions
void	clearList ()
bool	getData (ros::Time time, TransformStorage &data_out, std::string *error_str=0)
P_TimeAndFrameID	getLatestTimeAndParent ()
ros::Time	getLatestTimestamp ()
unsigned int	getListLength ()
	Debugging information methods. More...
ros::Time	getOldestTimestamp ()
CompactFrameID	getParent (ros::Time time, std::string *error_str)
bool	insertData (const TransformStorage &new_data)
	TimeCache (ros::Duration max_storage_time=ros::Duration().fromNSec(DEFAULT_MAX_STORAGE_TIME))

Static Public Attributes
static const int64_t	DEFAULT_MAX_STORAGE_TIME = 1ULL * 1000000000LL
	default value of 10 seconds storage More...
static const unsigned int	MAX_LENGTH_LINKED_LIST = 1000000
	Maximum length of linked list, to make sure not to be able to use unlimited memory. More...
static const int	MIN_INTERPOLATION_DISTANCE = 5
	Number of nano-seconds to not interpolate below. More...

Private Types
typedef std::set< TransformStorage >	L_TransformStorage

Private Member Functions
uint8_t	findClosest (const TransformStorage *&one, const TransformStorage *&two, ros::Time target_time, std::string *error_str)
	A helper function for getData. More...
void	interpolate (const TransformStorage &one, const TransformStorage &two, ros::Time time, TransformStorage &output)
void	pruneList ()

Private Attributes
ros::Duration	max_storage_time_
L_TransformStorage	storage_

Detailed Description

A class to keep a sorted linked list in time This builds and maintains a list of timestamped data. And provides lookup functions to get data out as a function of time.

Definition at line 97 of file time_cache.h.

Member Typedef Documentation

typedef std::set<TransformStorage> tf::TimeCache::L_TransformStorage

private

Definition at line 119 of file time_cache.h.

Constructor & Destructor Documentation

TimeCache::TimeCache

(

ros::Duration

max_storage_time = ros::Duration().fromNSec(DEFAULT_MAX_STORAGE_TIME)

)

Definition at line 55 of file cache.cpp.

Member Function Documentation

void TimeCache::clearList

(

)

Definition at line 264 of file cache.cpp.

uint8_t TimeCache::findClosest ( const TransformStorage *&  one, const TransformStorage *&  two, ros::Time  target_time, std::string *  error_str  )

inlineprivate

A helper function for getData.

Definition at line 98 of file cache.cpp.

bool TimeCache::getData	(	ros::Time	time,
		TransformStorage &	data_out,
		std::string *	error_str = 0
	)

Definition at line 192 of file cache.cpp.

P_TimeAndFrameID TimeCache::getLatestTimeAndParent

(

)

Definition at line 274 of file cache.cpp.

ros::Time TimeCache::getLatestTimestamp

(

)

Definition at line 285 of file cache.cpp.

unsigned int TimeCache::getListLength

(

)

Debugging information methods.

Definition at line 269 of file cache.cpp.

ros::Time TimeCache::getOldestTimestamp

(

)

Definition at line 291 of file cache.cpp.

CompactFrameID TimeCache::getParent	(	ros::Time	time,
		std::string *	error_str
	)

Definition at line 225 of file cache.cpp.

bool TimeCache::insertData

(

const TransformStorage &

new_data

)

Definition at line 239 of file cache.cpp.

void TimeCache::interpolate ( const TransformStorage &  one, const TransformStorage &  two, ros::Time  time, TransformStorage &  output  )

inlineprivate

Definition at line 170 of file cache.cpp.

void TimeCache::pruneList ( )

private

Definition at line 297 of file cache.cpp.

Member Data Documentation

const int64_t tf::TimeCache::DEFAULT_MAX_STORAGE_TIME = 1ULL * 1000000000LL

static

default value of 10 seconds storage

Definition at line 102 of file time_cache.h.

const unsigned int tf::TimeCache::MAX_LENGTH_LINKED_LIST = 1000000

static

Maximum length of linked list, to make sure not to be able to use unlimited memory.

Definition at line 101 of file time_cache.h.

ros::Duration tf::TimeCache::max_storage_time_

private

Definition at line 122 of file time_cache.h.

const int tf::TimeCache::MIN_INTERPOLATION_DISTANCE = 5

static

Number of nano-seconds to not interpolate below.

Definition at line 100 of file time_cache.h.

L_TransformStorage tf::TimeCache::storage_

private

Definition at line 120 of file time_cache.h.

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

• time_cache.h
• cache.cpp