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>

List of all members.

Public Member Functions
void	clearList ()
	Clear the list of stored values.
bool	getData (ros::Time time, TransformStorage &data_out)
ros::Time	getLatestTimestamp ()
	Get the latest timestamp cached.
unsigned int	getListLength ()
	Get the length of the stored list.
ros::Time	getOldestTimestamp ()
	Get the oldest timestamp cached.
bool	insertData (const TransformStorage &new_data)
void	interpolate (const TransformStorage &one, const TransformStorage &two, ros::Time time, TransformStorage &output)
	TimeCache (bool interpolating=true, ros::Duration max_storage_time=ros::Duration().fromNSec(DEFAULT_MAX_STORAGE_TIME), ros::Duration max_extrapolation_time=ros::Duration().fromNSec(DEFAULT_MAX_EXTRAPOLATION_TIME))
Static Public Attributes
static const int64_t	DEFAULT_MAX_EXTRAPOLATION_TIME = 0LL
	default max extrapolation of 0 nanoseconds
static const int64_t	DEFAULT_MAX_STORAGE_TIME = 1ULL * 1000000000LL
	default value of 10 seconds storage
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.
static const int	MIN_INTERPOLATION_DISTANCE = 5
	Number of nano-seconds to not interpolate below.
Private Member Functions
uint8_t	findClosest (TransformStorage &one, TransformStorage &two, ros::Time target_time, ExtrapolationMode &mode)
	!< The mutex to protect the linked list
void	pruneList ()
Private Attributes
bool	interpolating_
ros::Duration	max_extrapolation_time_
ros::Duration	max_storage_time_
std::list< TransformStorage >	storage_
boost::mutex	storage_lock_

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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 64 of file time_cache.h.

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Constructor & Destructor Documentation

tf::TimeCache::TimeCache	(	bool	interpolating = true,
		ros::Duration	max_storage_time = ros::Duration().fromNSec(DEFAULT_MAX_STORAGE_TIME),
		ros::Duration	max_extrapolation_time = ros::Duration().fromNSec(DEFAULT_MAX_EXTRAPOLATION_TIME)
	)			[inline]

Definition at line 73 of file time_cache.h.

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Member Function Documentation

void tf::TimeCache::clearList

(

)

[inline]

Clear the list of stored values.

Definition at line 115 of file time_cache.h.

uint8_t TimeCache::findClosest	(	TransformStorage &	one,
		TransformStorage &	two,
		ros::Time	target_time,
		ExtrapolationMode &	mode
	)			[private]

!< The mutex to protect the linked list

A helper function for getData

Definition at line 70 of file cache.cpp.

bool TimeCache::getData	(	ros::Time	time,
		TransformStorage &	data_out
	)

Definition at line 36 of file cache.cpp.

ros::Time tf::TimeCache::getLatestTimestamp

(

)

[inline]

Get the latest timestamp cached.

Definition at line 121 of file time_cache.h.

unsigned int tf::TimeCache::getListLength

(

)

[inline]

Get the length of the stored list.

Definition at line 118 of file time_cache.h.

ros::Time tf::TimeCache::getOldestTimestamp

(

)

[inline]

Get the oldest timestamp cached.

Definition at line 129 of file time_cache.h.

bool tf::TimeCache::insertData

(

const TransformStorage &

new_data

)

[inline]

Definition at line 83 of file time_cache.h.

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

Definition at line 151 of file cache.cpp.

void tf::TimeCache::pruneList

(

)

[inline, private]

Definition at line 150 of file time_cache.h.

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Member Data Documentation

const int64_t tf::TimeCache::DEFAULT_MAX_EXTRAPOLATION_TIME = 0LL [static]

default max extrapolation of 0 nanoseconds

Todo:

remove and make not optional??

Definition at line 70 of file time_cache.h.

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

default value of 10 seconds storage

Definition at line 69 of file time_cache.h.

bool tf::TimeCache::interpolating_ [private]

Definition at line 138 of file time_cache.h.

ros::Duration tf::TimeCache::max_extrapolation_time_ [private]

Definition at line 140 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 68 of file time_cache.h.

ros::Duration tf::TimeCache::max_storage_time_ [private]

Definition at line 139 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 67 of file time_cache.h.

std::list<TransformStorage > tf::TimeCache::storage_ [private]

Definition at line 134 of file time_cache.h.

boost::mutex tf::TimeCache::storage_lock_ [private]

Definition at line 142 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