Standard implementation of the tf2_ros::BufferInterface abstract data type. More...

#include <buffer.h>

Inheritance diagram for tf2_ros::Buffer:

Public Member Functions
	Buffer (ros::Duration cache_time=ros::Duration(BufferCore::DEFAULT_CACHE_TIME), bool debug=false)
	Constructor for a Buffer object. More...

virtual bool	canTransform (const std::string &target_frame, const ros::Time &target_time, const std::string &source_frame, const ros::Time &source_time, const std::string &fixed_frame, const ros::Duration timeout, std::string *errstr=NULL) const
	Test if a transform is possible. More...

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. More...

virtual geometry_msgs::TransformStamped	lookupTransform (const std::string &target_frame, const ros::Time &target_time, const std::string &source_frame, const ros::Time &source_time, const std::string &fixed_frame, const ros::Duration timeout) const
	Get the transform between two frames by frame ID assuming fixed frame. More...

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. More...

Public Member Functions inherited from tf2_ros::BufferInterface
template<class A , class B >
B &	transform (const A &in, B &out, const std::string &target_frame, const ros::Time &target_time, const std::string &fixed_frame, ros::Duration timeout=ros::Duration(0.0)) const
	Transform an input into the target frame and convert to a specified output type (advanced). It is templated on two types: the type of the input object and the type of the transformed output. For example, the template type could be a Transform, Pose, Vector, or Quaternion message type (as defined in geometry_msgs). The function will calculate the transformation and then convert the result into the specified output type. Compilation will fail if a known conversion does not exist bewteen the two template parameters. This function follows the advanced API, which allows transforming between different time points, and specifying a fixed frame that does not varying in time. More...

template<class A , class B >
B &	transform (const A &in, B &out, const std::string &target_frame, ros::Duration timeout=ros::Duration(0.0)) const
	Transform an input into the target frame and convert to a specified output type. It is templated on two types: the type of the input object and the type of the transformed output. For example, the template types could be Transform, Pose, Vector, or Quaternion messages type (as defined in geometry_msgs). The function will calculate the transformation and then convert the result into the specified output type. Compilation will fail if a known conversion does not exist bewteen the two template parameters. More...

template<class T >
T	transform (const T &in, const std::string &target_frame, const ros::Time &target_time, const std::string &fixed_frame, ros::Duration timeout=ros::Duration(0.0)) const
	Transform an input into the target frame (advanced). This function is templated and can take as input any valid mathematical object that tf knows how to apply a transform to, by way of the templated math conversions interface. For example, the template type could be a Transform, Pose, Vector, or Quaternion message type (as defined in geometry_msgs). This function follows the advanced API, which allows transforming between different time points, and specifying a fixed frame that does not varying in time. More...

template<class T >
T	transform (const T &in, const std::string &target_frame, ros::Duration timeout=ros::Duration(0.0)) const
	Transform an input into the target frame. This function is templated and can take as input any valid mathematical object that tf knows how to apply a transform to, by way of the templated math conversions interface. For example, the template type could be a Transform, Pose, Vector, or Quaternion message type (as defined in geometry_msgs). More...

template<class T >
T &	transform (const T &in, T &out, const std::string &target_frame, const ros::Time &target_time, const std::string &fixed_frame, ros::Duration timeout=ros::Duration(0.0)) const
	Transform an input into the target frame (advanced). This function is templated and can take as input any valid mathematical object that tf knows how to apply a transform to, by way of the templated math conversions interface. For example, the template type could be a Transform, Pose, Vector, or Quaternion message type (as defined in geometry_msgs). This function follows the advanced API, which allows transforming between different time points, and specifying a fixed frame that does not varying in time. More...

template<class T >
T &	transform (const T &in, T &out, const std::string &target_frame, ros::Duration timeout=ros::Duration(0.0)) const
	Transform an input into the target frame. This function is templated and can take as input any valid mathematical object that tf knows how to apply a transform to, by way of the templated math conversions interface. For example, the template type could be a Transform, Pose, Vector, or Quaternion message type (as defined in geometry_msgs). More...

Public Member Functions inherited from tf2::BufferCore
boost::signals2::connection	_addTransformsChangedListener (boost::function< void(void)> callback)

std::string	_allFramesAsDot () const

std::string	_allFramesAsDot (double current_time) const

void	_chainAsVector (const std::string &target_frame, ros::Time target_time, const std::string &source_frame, ros::Time source_time, const std::string &fixed_frame, std::vector< std::string > &output) const

bool	_frameExists (const std::string &frame_id_str) const

void	_getFrameStrings (std::vector< std::string > &ids) const

int	_getLatestCommonTime (CompactFrameID target_frame, CompactFrameID source_frame, ros::Time &time, std::string *error_string) const

bool	_getParent (const std::string &frame_id, ros::Time time, std::string &parent) const

CompactFrameID	_lookupFrameNumber (const std::string &frameid_str) const

CompactFrameID	_lookupOrInsertFrameNumber (const std::string &frameid_str)

void	_removeTransformsChangedListener (boost::signals2::connection c)

CompactFrameID	_validateFrameId (const char *function_name_arg, const std::string &frame_id) const

TransformableCallbackHandle	addTransformableCallback (const TransformableCallback &cb)

TransformableRequestHandle	addTransformableRequest (TransformableCallbackHandle handle, const std::string &target_frame, const std::string &source_frame, ros::Time time)

std::string	allFramesAsString () const

std::string	allFramesAsYAML () const

std::string	allFramesAsYAML (double current_time) const

	BufferCore (ros::Duration cache_time_=ros::Duration(DEFAULT_CACHE_TIME))

void	cancelTransformableRequest (TransformableRequestHandle handle)

bool	canTransform (const std::string &target_frame, const ros::Time &target_time, const std::string &source_frame, const ros::Time &source_time, const std::string &fixed_frame, std::string *error_msg=NULL) const

bool	canTransform (const std::string &target_frame, const std::string &source_frame, const ros::Time &time, std::string *error_msg=NULL) const

void	clear ()

ros::Duration	getCacheLength ()

bool	isUsingDedicatedThread () const

geometry_msgs::TransformStamped	lookupTransform (const std::string &target_frame, const ros::Time &target_time, const std::string &source_frame, const ros::Time &source_time, const std::string &fixed_frame) const

geometry_msgs::TransformStamped	lookupTransform (const std::string &target_frame, const std::string &source_frame, const ros::Time &time) const

void	removeTransformableCallback (TransformableCallbackHandle handle)

bool	setTransform (const geometry_msgs::TransformStamped &transform, const std::string &authority, bool is_static=false)

void	setUsingDedicatedThread (bool value)

virtual	~BufferCore (void)

Private Member Functions
bool	checkAndErrorDedicatedThreadPresent (std::string *errstr) const

bool	getFrames (tf2_msgs::FrameGraph::Request &req, tf2_msgs::FrameGraph::Response &res)

Private Attributes
ros::ServiceServer	frames_server_

Additional Inherited Members
Public Types inherited from tf2::BufferCore
typedef boost::function< void(TransformableRequestHandle request_handle, const std::string &target_frame, const std::string &source_frame, ros::Time time, TransformableResult result)>	TransformableCallback

Static Public Attributes inherited from tf2::BufferCore
static const int	DEFAULT_CACHE_TIME

static const uint32_t	MAX_GRAPH_DEPTH

Detailed Description

Standard implementation of the tf2_ros::BufferInterface abstract data type.

Inherits tf2_ros::BufferInterface and tf2::BufferCore. Stores known frames and optionally offers a ROS service, "tf2_frames", which responds to client requests with a response containing a tf2_msgs::FrameGraph representing the relationship of known frames.

Definition at line 51 of file buffer.h.

Constructor & Destructor Documentation

◆ Buffer()

tf2_ros::Buffer::Buffer	(	ros::Duration	cache_time = `ros::Duration(BufferCore::DEFAULT_CACHE_TIME)`,
		bool	debug = `false`
	)

Constructor for a Buffer object.

Parameters

cache_time	How long to keep a history of transforms
debug	Whether to advertise the tf2_frames service that exposes debugging information from the buffer

Returns

Definition at line 43 of file buffer.cpp.

Member Function Documentation

◆ canTransform() [1/2]

bool tf2_ros::Buffer::canTransform	(	const std::string &	target_frame,
		const ros::Time &	target_time,
		const std::string &	source_frame,
		const ros::Time &	source_time,
		const std::string &	fixed_frame,
		const ros::Duration	timeout,
		std::string *	errstr = `NULL`
	)		const

virtual

Test if a transform is possible.

Parameters

target_frame	The frame into which to transform
target_time	The time into which to transform
source_frame	The frame from which to transform
source_time	The time from which to transform
fixed_frame	The frame in which to treat the transform as constant in time
timeout	How long to block before failing
errstr	A pointer to a string which will be filled with why the transform failed, if not NULL

Returns: True if the transform is possible, false otherwise

Implements tf2_ros::BufferInterface.

Definition at line 148 of file buffer.cpp.

◆ canTransform() [2/2]

bool tf2_ros::Buffer::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

virtual

Test if a transform is possible.

Parameters

target_frame	The frame into which to transform
source_frame	The frame from which to transform
target_time	The time at which to transform
timeout	How long to block before failing
errstr	A pointer to a string which will be filled with why the transform failed, if not NULL

Returns: True if the transform is possible, false otherwise

Implements tf2_ros::BufferInterface.

Definition at line 119 of file buffer.cpp.

◆ checkAndErrorDedicatedThreadPresent()

bool tf2_ros::Buffer::checkAndErrorDedicatedThreadPresent ( std::string * errstr ) const

private

Definition at line 185 of file buffer.cpp.

◆ getFrames()

bool tf2_ros::Buffer::getFrames	(	tf2_msgs::FrameGraph::Request &	req,
		tf2_msgs::FrameGraph::Response &	res
	)

private

Definition at line 177 of file buffer.cpp.

◆ lookupTransform() [1/2]

geometry_msgs::TransformStamped tf2_ros::Buffer::lookupTransform	(	const std::string &	target_frame,
		const ros::Time &	target_time,
		const std::string &	source_frame,
		const ros::Time &	source_time,
		const std::string &	fixed_frame,
		const ros::Duration	timeout
	)		const

virtual

Get the transform between two frames by frame ID assuming fixed frame.

Parameters

target_frame	The frame to which data should be transformed
target_time	The time to which the data should be transformed. (0 will get the latest)
source_frame	The frame where the data originated
source_time	The time at which the source_frame should be evaluated. (0 will get the latest)
fixed_frame	The frame in which to assume the transform is constant in time.
timeout	How long to block before failing

Returns: The transform between the frames

Possible exceptions tf2::LookupException, tf2::ConnectivityException, tf2::ExtrapolationException, tf2::InvalidArgumentException

Implements tf2_ros::BufferInterface.

Definition at line 63 of file buffer.cpp.

◆ lookupTransform() [2/2]

geometry_msgs::TransformStamped tf2_ros::Buffer::lookupTransform	(	const std::string &	target_frame,
		const std::string &	source_frame,
		const ros::Time &	time,
		const ros::Duration	timeout
	)		const

virtual

Get the transform between two frames by frame ID.

Parameters

target_frame	The frame to which data should be transformed
source_frame	The frame where the data originated
time	The time at which the value of the transform is desired. (0 will get the latest)
timeout	How long to block before failing

Returns: The transform between the frames

Possible exceptions tf2::LookupException, tf2::ConnectivityException, tf2::ExtrapolationException, tf2::InvalidArgumentException

Implements tf2_ros::BufferInterface.

Definition at line 54 of file buffer.cpp.

Member Data Documentation

◆ frames_server_

ros::ServiceServer tf2_ros::Buffer::frames_server_

private

Definition at line 134 of file buffer.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Buffer()

Member Function Documentation

◆ canTransform() [1/2]

◆ canTransform() [2/2]

◆ checkAndErrorDedicatedThreadPresent()

◆ getFrames()

◆ lookupTransform() [1/2]

◆ lookupTransform() [2/2]

Member Data Documentation

◆ frames_server_