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

#include <frame_manager.h>

Inheritance diagram for rviz::FrameManager:

Classes
struct	CacheEntry

struct	CacheKey

Public Types
enum	SyncMode { SyncOff = 0, SyncExact, SyncApprox }

Signals
void	fixedFrameChanged ()
	Emitted whenever the fixed frame changes. More...

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. More...

bool	frameHasProblems (const std::string &frame, ros::Time time, std::string &error)
	Check to see if a frame exists in the tf::TransformListener. More...

	FrameManager (boost::shared_ptr< tf::TransformListener > tf=boost::shared_ptr< tf::TransformListener >())
	Constructor. More...

const std::string &	getFixedFrame ()
	Return the current fixed frame name. More...

bool	getPause ()

SyncMode	getSyncMode ()

tf::TransformListener *	getTFClient ()
	Return the tf::TransformListener used to receive transform data. More...

const boost::shared_ptr< tf::TransformListener > &	getTFClientPtr ()
	Return a boost shared pointer to the tf::TransformListener used to receive transform data. More...

ros::Time	getTime ()
	Get current time, depending on the sync mode. More...

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. More...

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. More...

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. More...

void	setFixedFrame (const std::string &frame)
	Set the frame to consider "fixed", into which incoming data is transformed. More...

void	setPause (bool pause)
	Enable/disable pause mode. More...

void	setSyncMode (SyncMode mode)
	Set synchronization mode (off/exact/approximate) More...

void	syncTime (ros::Time time)
	Synchronize with given time. More...

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. More...

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. More...

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. More...

void	update ()
	Clear the internal cache. More...

	~FrameManager ()
	Destructor. More...

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)

Definition at line 42 of file frame_manager.cpp.

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.

Definition at line 51 of file frame_manager.cpp.

Member Function Documentation

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

private

Definition at line 148 of file frame_manager.cpp.

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.

Definition at line 326 of file frame_manager.cpp.

template<class M >

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

inlineprivate

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.

Definition at line 269 of file frame_manager.cpp.

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.

Definition at line 189 of file frame_manager.cpp.

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

private

Definition at line 346 of file frame_manager.cpp.

template<class M >

void rviz::FrameManager::messageCallback	(	const ros::MessageEvent< M const > &	msg_evt,
		Display *	display
	)

inlineprivate

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

Definition at line 352 of file frame_manager.cpp.

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.

Definition at line 88 of file frame_manager.cpp.

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

Enable/disable pause mode.

Definition at line 107 of file frame_manager.cpp.

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

Set synchronization mode (off/exact/approximate)

Definition at line 112 of file frame_manager.cpp.

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

Synchronize with given time.

Definition at line 120 of file frame_manager.cpp.

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.

Definition at line 227 of file frame_manager.cpp.

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.

Returns: true if the transform is not known, false if it is.

Definition at line 284 of file frame_manager.cpp.

void rviz::FrameManager::update ( )

Clear the internal cache.

Definition at line 55 of file frame_manager.cpp.

Member Data Documentation

M_Cache rviz::FrameManager::cache_

private

Definition at line 266 of file frame_manager.h.

boost::mutex rviz::FrameManager::cache_mutex_

private

Definition at line 265 of file frame_manager.h.

double rviz::FrameManager::current_delta_

private

Definition at line 280 of file frame_manager.h.

std::string rviz::FrameManager::fixed_frame_

private

Definition at line 269 of file frame_manager.h.

bool rviz::FrameManager::pause_

private

Definition at line 271 of file frame_manager.h.

double rviz::FrameManager::sync_delta_

private

Definition at line 279 of file frame_manager.h.

SyncMode rviz::FrameManager::sync_mode_

private

Definition at line 273 of file frame_manager.h.

ros::Time rviz::FrameManager::sync_time_

private

Definition at line 276 of file frame_manager.h.

boost::shared_ptr<tf::TransformListener> rviz::FrameManager::tf_

private

Definition at line 268 of file frame_manager.h.

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

Classes

Public Types

Signals

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation