buffer.h
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29 
32 #ifndef TF2_ROS_BUFFER_H
33 #define TF2_ROS_BUFFER_H
34 
36 #include <tf2/buffer_core.h>
37 #include <tf2_msgs/FrameGraph.h>
38 #include <ros/ros.h>
39 #include <tf2/convert.h>
40 
41 
42 namespace tf2_ros
43 {
44 
51  class Buffer: public BufferInterface, public tf2::BufferCore
52  {
53  public:
56 
63  Buffer(ros::Duration cache_time = ros::Duration(BufferCore::DEFAULT_CACHE_TIME), bool debug = false);
64 
75  virtual geometry_msgs::TransformStamped
76  lookupTransform(const std::string& target_frame, const std::string& source_frame,
77  const ros::Time& time, const ros::Duration timeout) const;
78 
91  virtual geometry_msgs::TransformStamped
92  lookupTransform(const std::string& target_frame, const ros::Time& target_time,
93  const std::string& source_frame, const ros::Time& source_time,
94  const std::string& fixed_frame, const ros::Duration timeout) const;
95 
96 
105  virtual bool
106  canTransform(const std::string& target_frame, const std::string& source_frame,
107  const ros::Time& target_time, const ros::Duration timeout, std::string* errstr = NULL) const;
108 
119  virtual bool
120  canTransform(const std::string& target_frame, const ros::Time& target_time,
121  const std::string& source_frame, const ros::Time& source_time,
122  const std::string& fixed_frame, const ros::Duration timeout, std::string* errstr = NULL) const;
123 
124 
125 
126 
127  private:
128  bool getFrames(tf2_msgs::FrameGraph::Request& req, tf2_msgs::FrameGraph::Response& res) ;
129 
130 
131  // conditionally error if dedicated_thread unset.
132  bool checkAndErrorDedicatedThreadPresent(std::string* errstr) const;
133 
135 
136 
137  }; // class
138 
139 static const std::string threading_error = "Do not call canTransform or lookupTransform with a timeout unless you are using another thread for populating data. Without a dedicated thread it will always timeout. If you have a seperate thread servicing tf messages, call setUsingDedicatedThread(true) on your Buffer instance.";
140 
141 
142 } // namespace
143 
144 #endif // TF2_ROS_BUFFER_H
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.
Definition: buffer.cpp:52
Abstract interface for wrapping tf2::BufferCore in a ROS-based API. Implementations include tf2_ros::...
Standard implementation of the tf2_ros::BufferInterface abstract data type.
Definition: buffer.h:51
static const std::string threading_error
Definition: buffer.h:139
bool canTransform(const std::string &target_frame, const std::string &source_frame, const ros::Time &time, std::string *error_msg=NULL) const
Definition: buffer.h:42
ros::ServiceServer frames_server_
Definition: buffer.h:134
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.
Definition: buffer.cpp:117
bool getFrames(tf2_msgs::FrameGraph::Request &req, tf2_msgs::FrameGraph::Response &res)
Definition: buffer.cpp:173
bool checkAndErrorDedicatedThreadPresent(std::string *errstr) const
Definition: buffer.cpp:181
geometry_msgs::TransformStamped lookupTransform(const std::string &target_frame, const std::string &source_frame, const ros::Time &time) const
Buffer(ros::Duration cache_time=ros::Duration(BufferCore::DEFAULT_CACHE_TIME), bool debug=false)
Constructor for a Buffer object.
Definition: buffer.cpp:41


tf2_ros
Author(s): Eitan Marder-Eppstein, Wim Meeussen
autogenerated on Thu Jan 4 2018 03:35:09