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tf::Transformer Class Reference

A Class which provides coordinate transforms between any two frames in a system. More...

#include <tf.h>

Inheritance diagram for tf::Transformer:
Inheritance graph
[legend]

List of all members.

Public Member Functions

boost::signals::connection addTransformsChangedListener (boost::function< void(void)> callback)
 Add a callback that happens when a new transform has arrived.
std::string allFramesAsDot () const
 A way to see what frames have been cached Useful for debugging.
std::string allFramesAsString () const
 A way to see what frames have been cached Useful for debugging.
bool canTransform (const std::string &target_frame, const std::string &source_frame, const ros::Time &time, std::string *error_msg=NULL) const
 Test if a transform is possible.
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
 Test if a transform is possible.
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
 Debugging function that will print the spanning chain of transforms. Possible exceptions tf::LookupException, tf::ConnectivityException, tf::MaxDepthException.
void clear ()
 Clear all data.
bool frameExists (const std::string &frame_id_str) const
 Check if a frame exists in the tree.
ros::Duration getCacheLength ()
 Get the duration over which this transformer will cache.
void getFrameStrings (std::vector< std::string > &ids) const
 A way to get a std::vector of available frame ids.
int getLatestCommonTime (const std::string &source_frame, const std::string &target_frame, ros::Time &time, std::string *error_string) const
 Return the latest rostime which is common across the spanning set zero if fails to cross.
bool getParent (const std::string &frame_id, ros::Time time, std::string &parent) const
 Fill the parent of a frame.
std::string getTFPrefix () const
 Get the tf_prefix this is running with.
bool isUsingDedicatedThread ()
void lookupTransform (const std::string &target_frame, const std::string &source_frame, const ros::Time &time, StampedTransform &transform) const
 Get the transform between two frames by frame ID.
void 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, StampedTransform &transform) const
 Get the transform between two frames by frame ID assuming fixed frame.
void lookupTwist (const std::string &tracking_frame, const std::string &observation_frame, const std::string &reference_frame, const tf::Point &reference_point, const std::string &reference_point_frame, const ros::Time &time, const ros::Duration &averaging_interval, geometry_msgs::Twist &twist) const
 Lookup the twist of the tracking_frame with respect to the observation frame in the reference_frame using the reference point.
void lookupTwist (const std::string &tracking_frame, const std::string &observation_frame, const ros::Time &time, const ros::Duration &averaging_interval, geometry_msgs::Twist &twist) const
 lookup the twist of the tracking frame with respect to the observational frame
void removeTransformsChangedListener (boost::signals::connection c)
void setExtrapolationLimit (const ros::Duration &distance)
 Set the distance which tf is allow to extrapolate.
bool setTransform (const StampedTransform &transform, const std::string &authority="default_authority")
 Add transform information to the tf data structure.
void setUsingDedicatedThread (bool value)
 Transformer (bool interpolating=true, ros::Duration cache_time_=ros::Duration(DEFAULT_CACHE_TIME))
void transformPoint (const std::string &target_frame, const Stamped< tf::Point > &stamped_in, Stamped< tf::Point > &stamped_out) const
 Transform a Stamped Point into the target frame This can throw anything a lookupTransform can throw as well as tf::InvalidArgument.
void transformPoint (const std::string &target_frame, const ros::Time &target_time, const Stamped< tf::Point > &stamped_in, const std::string &fixed_frame, Stamped< tf::Point > &stamped_out) const
 Transform a Stamped Point into the target frame This can throw anything a lookupTransform can throw as well as tf::InvalidArgument.
void transformPose (const std::string &target_frame, const Stamped< tf::Pose > &stamped_in, Stamped< tf::Pose > &stamped_out) const
 Transform a Stamped Pose into the target frame This can throw anything a lookupTransform can throw as well as tf::InvalidArgument.
void transformPose (const std::string &target_frame, const ros::Time &target_time, const Stamped< tf::Pose > &stamped_in, const std::string &fixed_frame, Stamped< tf::Pose > &stamped_out) const
 Transform a Stamped Pose into the target frame This can throw anything a lookupTransform can throw as well as tf::InvalidArgument.
void transformQuaternion (const std::string &target_frame, const Stamped< tf::Quaternion > &stamped_in, Stamped< tf::Quaternion > &stamped_out) const
 Transform a Stamped Quaternion into the target frame This can throw anything a lookupTransform can throw as well as tf::InvalidArgument.
void transformQuaternion (const std::string &target_frame, const ros::Time &target_time, const Stamped< tf::Quaternion > &stamped_in, const std::string &fixed_frame, Stamped< tf::Quaternion > &stamped_out) const
 Transform a Stamped Quaternion into the target frame This can throw anything a lookupTransform can throw as well as tf::InvalidArgument.
void transformVector (const std::string &target_frame, const Stamped< tf::Vector3 > &stamped_in, Stamped< tf::Vector3 > &stamped_out) const
 Transform a Stamped Vector3 into the target frame This can throw anything a lookupTransform can throw as well as tf::InvalidArgument.
void transformVector (const std::string &target_frame, const ros::Time &target_time, const Stamped< tf::Vector3 > &stamped_in, const std::string &fixed_frame, Stamped< tf::Vector3 > &stamped_out) const
 Transform a Stamped Vector3 into the target frame This can throw anything a lookupTransform can throw as well as tf::InvalidArgument.
bool waitForTransform (const std::string &target_frame, const std::string &source_frame, const ros::Time &time, const ros::Duration &timeout, const ros::Duration &polling_sleep_duration=ros::Duration(0.01), std::string *error_msg=NULL) const
 Block until a transform is possible or it times out.
bool waitForTransform (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 ros::Duration &polling_sleep_duration=ros::Duration(0.01), std::string *error_msg=NULL) const
 Block until a transform is possible or it times out.
virtual ~Transformer (void)

Public Attributes

bool fall_back_to_wall_time_

Static Public Attributes

static const double DEFAULT_CACHE_TIME = 10.0
 10.0 is the default amount of time to cache data in seconds, set in cpp file.
static const int64_t DEFAULT_MAX_EXTRAPOLATION_DISTANCE = 0ULL
 The default amount of time to extrapolate.
static const unsigned int MAX_GRAPH_DEPTH = 100UL
 The maximum number of time to recurse before assuming the tree has a loop.

Protected Types

typedef boost::unordered_map
< std::string, CompactFrameID
M_StringToCompactFrameID
 The internal storage class for ReferenceTransform.
typedef boost::signal< void(void)> TransformsChangedSignal

Protected Member Functions

TimeCachegetFrame (unsigned int frame_number) const
 An accessor to get a frame, which will throw an exception if the frame is no there.
CompactFrameID lookupFrameNumber (const std::string &frameid_str) const
 String to number for frame lookup with dynamic allocation of new frames.
std::string lookupFrameString (unsigned int frame_id_num) const
 Number to string frame lookup may throw LookupException if number invalid.
CompactFrameID lookupOrInsertFrameNumber (const std::string &frameid_str)
 String to number for frame lookup with dynamic allocation of new frames.
ros::Time now () const
virtual bool ok () const

Protected Attributes

ros::Duration cache_time
 How long to cache transform history.
ros::Duration cache_time_
 How long to cache transform history.
std::map< CompactFrameID,
std::string > 
frame_authority_
 A map to lookup the most recent authority for a given frame.
boost::recursive_mutex frame_mutex_
 A mutex to protect testing and allocating new frames on the above vector.
M_StringToCompactFrameID frameIDs_
std::vector< std::string > frameIDs_reverse
 A map from CompactFrameID frame_id_numbers to string for debugging and output.
std::vector< TimeCache * > frames_
 The pointers to potential frames that the tree can be made of. The frames will be dynamically allocated at run time when set the first time.
bool interpolating
 whether or not to interpolate or extrapolate
ros::Duration max_extrapolation_distance_
 whether or not to allow extrapolation
std::string tf_prefix_
 transform prefix to apply as necessary
TransformsChangedSignal transforms_changed_
 Signal which is fired whenever new transform data has arrived, from the thread the data arrived in.
boost::mutex transforms_changed_mutex_
bool using_dedicated_thread_

Private Member Functions

bool canTransformInternal (CompactFrameID target_id, CompactFrameID source_id, const ros::Time &time, std::string *error_msg) const
bool canTransformNoLock (CompactFrameID target_id, CompactFrameID source_id, const ros::Time &time, std::string *error_msg) const
void createConnectivityErrorString (CompactFrameID source_frame, CompactFrameID target_frame, std::string *out) const
int getLatestCommonTime (CompactFrameID target_frame, CompactFrameID source_frame, ros::Time &time, std::string *error_string) const
 Return the latest rostime which is common across the spanning set zero if fails to cross.
template<typename F >
int walkToTopParent (F &f, ros::Time time, CompactFrameID target_id, CompactFrameID source_id, std::string *error_string) const

Detailed Description

A Class which provides coordinate transforms between any two frames in a system.

This class provides a simple interface to allow recording and lookup of relationships between arbitrary frames of the system.

libTF assumes that there is a tree of coordinate frame transforms which define the relationship between all coordinate frames. For example your typical robot would have a transform from global to real world. And then from base to hand, and from base to head. But Base to Hand really is composed of base to shoulder to elbow to wrist to hand. libTF is designed to take care of all the intermediate steps for you.

Internal Representation libTF will store frames with the parameters necessary for generating the transform into that frame from it's parent and a reference to the parent frame. Frames are designated using an std::string 0 is a frame without a parent (the top of a tree) The positions of frames over time must be pushed in.

All function calls which pass frame ids can potentially throw the exception tf::LookupException

Definition at line 86 of file tf.h.


Member Typedef Documentation

typedef boost::unordered_map<std::string, CompactFrameID> tf::Transformer::M_StringToCompactFrameID [protected]

The internal storage class for ReferenceTransform.

An instance of this class is created for each frame in the system. This class natively handles the relationship between frames.

The derived class Pose3DCache provides a buffered history of positions with interpolation.A map from string frame ids to CompactFrameID

Definition at line 334 of file tf.h.

typedef boost::signal<void(void)> tf::Transformer::TransformsChangedSignal [protected]

Definition at line 382 of file tf.h.


Constructor & Destructor Documentation

Transformer::Transformer ( bool  interpolating = true,
ros::Duration  cache_time_ = ros::Duration(DEFAULT_CACHE_TIME) 
)

Constructor

Parameters:
interpolatingWhether to interpolate, if this is false the closest value will be returned
cache_timeHow long to keep a history of transforms in nanoseconds

Definition at line 200 of file tf.cpp.

Transformer::~Transformer ( void  ) [virtual]

Definition at line 215 of file tf.cpp.


Member Function Documentation

boost::signals::connection Transformer::addTransformsChangedListener ( boost::function< void(void)>  callback)

Add a callback that happens when a new transform has arrived.

Parameters:
callbackThe callback, of the form void func();
Returns:
A boost::signals::connection object that can be used to remove this listener

Definition at line 1527 of file tf.cpp.

std::string Transformer::allFramesAsDot ( ) const

A way to see what frames have been cached Useful for debugging.

Definition at line 1305 of file tf.cpp.

std::string Transformer::allFramesAsString ( ) const

A way to see what frames have been cached Useful for debugging.

regular transforms

Definition at line 1279 of file tf.cpp.

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

Test if a transform is possible.

Parameters:
target_frameThe frame into which to transform
source_frameThe frame from which to transform
timeThe time at which to transform
error_msgA pointer to a string which will be filled with why the transform failed, if not NULL

Definition at line 641 of file tf.cpp.

bool Transformer::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

Test if a transform is possible.

Parameters:
target_frameThe frame into which to transform
target_timeThe time into which to transform
source_frameThe frame from which to transform
source_timeThe time from which to transform
fixed_frameThe frame in which to treat the transform as constant in time
error_msgA pointer to a string which will be filled with why the transform failed, if not NULL

Definition at line 663 of file tf.cpp.

bool Transformer::canTransformInternal ( CompactFrameID  target_id,
CompactFrameID  source_id,
const ros::Time time,
std::string *  error_msg 
) const [private]

Definition at line 634 of file tf.cpp.

bool Transformer::canTransformNoLock ( CompactFrameID  target_id,
CompactFrameID  source_id,
const ros::Time time,
std::string *  error_msg 
) const [private]

Definition at line 617 of file tf.cpp.

void Transformer::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

Debugging function that will print the spanning chain of transforms. Possible exceptions tf::LookupException, tf::ConnectivityException, tf::MaxDepthException.

Debugging function that will print the spanning chain of transforms. Possible exceptions tf::LookupException, tf::ConnectivityException, tf::MaxDepthException

regular transforms

Definition at line 1251 of file tf.cpp.

Clear all data.

Definition at line 227 of file tf.cpp.

void Transformer::createConnectivityErrorString ( CompactFrameID  source_frame,
CompactFrameID  target_frame,
std::string *  out 
) const [private]

Definition at line 721 of file tf.cpp.

bool Transformer::frameExists ( const std::string &  frame_id_str) const

Check if a frame exists in the tree.

Parameters:
frame_id_strThe frame id in question

Definition at line 708 of file tf.cpp.

Get the duration over which this transformer will cache.

Definition at line 314 of file tf.h.

tf::TimeCache * Transformer::getFrame ( unsigned int  frame_number) const [protected]

An accessor to get a frame, which will throw an exception if the frame is no there.

Parameters:
frame_numberThe frameID of the desired Reference Frame

This is an internal function which will get the pointer to the frame associated with the frame id Possible Exception: tf::LookupException

Todo:
check larger values too

Definition at line 1398 of file tf.cpp.

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

A way to get a std::vector of available frame ids.

Definition at line 1382 of file tf.cpp.

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

Return the latest rostime which is common across the spanning set zero if fails to cross.

Definition at line 746 of file tf.cpp.

int Transformer::getLatestCommonTime ( CompactFrameID  target_frame,
CompactFrameID  source_frame,
ros::Time time,
std::string *  error_string 
) const [private]

Return the latest rostime which is common across the spanning set zero if fails to cross.

Definition at line 762 of file tf.cpp.

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

Fill the parent of a frame.

Parameters:
frame_idThe frame id of the frame in question
parentThe reference to the string to fill the parent Returns true unless "NO_PARENT"

Definition at line 679 of file tf.cpp.

std::string tf::Transformer::getTFPrefix ( ) const [inline]

Get the tf_prefix this is running with.

Definition at line 329 of file tf.h.

Definition at line 334 of file tf.h.

CompactFrameID tf::Transformer::lookupFrameNumber ( const std::string &  frameid_str) const [inline, protected]

String to number for frame lookup with dynamic allocation of new frames.

Definition at line 420 of file tf.h.

std::string tf::Transformer::lookupFrameString ( unsigned int  frame_id_num) const [inline, protected]

Number to string frame lookup may throw LookupException if number invalid.

Definition at line 454 of file tf.h.

CompactFrameID tf::Transformer::lookupOrInsertFrameNumber ( const std::string &  frameid_str) [inline, protected]

String to number for frame lookup with dynamic allocation of new frames.

Definition at line 437 of file tf.h.

void Transformer::lookupTransform ( const std::string &  target_frame,
const std::string &  source_frame,
const ros::Time time,
StampedTransform transform 
) const

Get the transform between two frames by frame ID.

Parameters:
target_frameThe frame to which data should be transformed
source_frameThe frame where the data originated
timeThe time at which the value of the transform is desired. (0 will get the latest)
transformThe transform reference to fill.

Possible exceptions tf::LookupException, tf::ConnectivityException, tf::MaxDepthException, tf::ExtrapolationException

Definition at line 443 of file tf.cpp.

void Transformer::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,
StampedTransform transform 
) const

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

Parameters:
target_frameThe frame to which data should be transformed
target_timeThe time to which the data should be transformed. (0 will get the latest)
source_frameThe frame where the data originated
source_timeThe time at which the source_frame should be evaluated. (0 will get the latest)
fixed_frameThe frame in which to assume the transform is constant in time.
transformThe transform reference to fill.

Possible exceptions tf::LookupException, tf::ConnectivityException, tf::MaxDepthException, tf::ExtrapolationException

Definition at line 489 of file tf.cpp.

void Transformer::lookupTwist ( const std::string &  tracking_frame,
const std::string &  observation_frame,
const std::string &  reference_frame,
const tf::Point reference_point,
const std::string &  reference_point_frame,
const ros::Time time,
const ros::Duration averaging_interval,
geometry_msgs::Twist &  twist 
) const

Lookup the twist of the tracking_frame with respect to the observation frame in the reference_frame using the reference point.

Parameters:
tracking_frameThe frame to track
observation_frameThe frame from which to measure the twist
reference_frameThe reference frame in which to express the twist
reference_pointThe reference point with which to express the twist
reference_point_frameThe frame_id in which the reference point is expressed
timeThe time at which to get the velocity
durationThe period over which to average
twistThe twist output

This will compute the average velocity on the interval (time - duration/2, time+duration/2). If that is too close to the most recent reading, in which case it will shift the interval up to duration/2 to prevent extrapolation. Possible exceptions tf::LookupException, tf::ConnectivityException, tf::MaxDepthException, tf::ExtrapolationException

New in geometry 1.1

check time on reference point too

Definition at line 512 of file tf.cpp.

void Transformer::lookupTwist ( const std::string &  tracking_frame,
const std::string &  observation_frame,
const ros::Time time,
const ros::Duration averaging_interval,
geometry_msgs::Twist &  twist 
) const

lookup the twist of the tracking frame with respect to the observational frame

This is a simplified version of lookupTwist with it assumed that the reference point is the origin of the tracking frame, and the reference frame is the observation frame.

New in geometry 1.1

Definition at line 503 of file tf.cpp.

ros::Time tf::Transformer::now ( ) const [inline, protected]

Hack method to work around #4150

Definition at line 396 of file tf.h.

bool Transformer::ok ( ) const [protected, virtual]

Reimplemented in tf::TransformListener.

Definition at line 1380 of file tf.cpp.

void Transformer::removeTransformsChangedListener ( boost::signals::connection  c)

Definition at line 1533 of file tf.cpp.

Set the distance which tf is allow to extrapolate.

Parameters:
distanceHow far to extrapolate before throwing an exception default is zero

Definition at line 716 of file tf.cpp.

bool Transformer::setTransform ( const StampedTransform transform,
const std::string &  authority = "default_authority" 
)

Add transform information to the tf data structure.

Parameters:
transformThe transform to store
authorityThe source of the information for this transform returns true unless an error occured

Definition at line 372 of file tf.cpp.

void tf::Transformer::setUsingDedicatedThread ( bool  value) [inline]

Definition at line 332 of file tf.h.

void Transformer::transformPoint ( const std::string &  target_frame,
const Stamped< tf::Point > &  stamped_in,
Stamped< tf::Point > &  stamped_out 
) const

Transform a Stamped Point into the target frame This can throw anything a lookupTransform can throw as well as tf::InvalidArgument.

Definition at line 1438 of file tf.cpp.

void Transformer::transformPoint ( const std::string &  target_frame,
const ros::Time target_time,
const Stamped< tf::Point > &  stamped_in,
const std::string &  fixed_frame,
Stamped< tf::Point > &  stamped_out 
) const

Transform a Stamped Point into the target frame This can throw anything a lookupTransform can throw as well as tf::InvalidArgument.

Definition at line 1497 of file tf.cpp.

void Transformer::transformPose ( const std::string &  target_frame,
const Stamped< tf::Pose > &  stamped_in,
Stamped< tf::Pose > &  stamped_out 
) const

Transform a Stamped Pose into the target frame This can throw anything a lookupTransform can throw as well as tf::InvalidArgument.

Definition at line 1448 of file tf.cpp.

void Transformer::transformPose ( const std::string &  target_frame,
const ros::Time target_time,
const Stamped< tf::Pose > &  stamped_in,
const std::string &  fixed_frame,
Stamped< tf::Pose > &  stamped_out 
) const

Transform a Stamped Pose into the target frame This can throw anything a lookupTransform can throw as well as tf::InvalidArgument.

Definition at line 1512 of file tf.cpp.

void Transformer::transformQuaternion ( const std::string &  target_frame,
const Stamped< tf::Quaternion > &  stamped_in,
Stamped< tf::Quaternion > &  stamped_out 
) const

Transform a Stamped Quaternion into the target frame This can throw anything a lookupTransform can throw as well as tf::InvalidArgument.

Definition at line 1407 of file tf.cpp.

void Transformer::transformQuaternion ( const std::string &  target_frame,
const ros::Time target_time,
const Stamped< tf::Quaternion > &  stamped_in,
const std::string &  fixed_frame,
Stamped< tf::Quaternion > &  stamped_out 
) const

Transform a Stamped Quaternion into the target frame This can throw anything a lookupTransform can throw as well as tf::InvalidArgument.

Definition at line 1459 of file tf.cpp.

void Transformer::transformVector ( const std::string &  target_frame,
const Stamped< tf::Vector3 > &  stamped_in,
Stamped< tf::Vector3 > &  stamped_out 
) const

Transform a Stamped Vector3 into the target frame This can throw anything a lookupTransform can throw as well as tf::InvalidArgument.

Todo:
may not be most efficient

Definition at line 1420 of file tf.cpp.

void tf::Transformer::transformVector ( const std::string &  target_frame,
const ros::Time target_time,
const Stamped< tf::Vector3 > &  stamped_in,
const std::string &  fixed_frame,
Stamped< tf::Vector3 > &  stamped_out 
) const

Transform a Stamped Vector3 into the target frame This can throw anything a lookupTransform can throw as well as tf::InvalidArgument.

bool Transformer::waitForTransform ( const std::string &  target_frame,
const std::string &  source_frame,
const ros::Time time,
const ros::Duration timeout,
const ros::Duration polling_sleep_duration = ros::Duration(0.01),
std::string *  error_msg = NULL 
) const

Block until a transform is possible or it times out.

Parameters:
target_frameThe frame into which to transform
source_frameThe frame from which to transform
timeThe time at which to transform
timeoutHow long to block before failing
polling_sleep_durationHow often to retest if failed
error_msgA pointer to a string which will be filled with why the transform failed, if not NULL

Definition at line 589 of file tf.cpp.

bool Transformer::waitForTransform ( 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 ros::Duration polling_sleep_duration = ros::Duration(0.01),
std::string *  error_msg = NULL 
) const

Block until a transform is possible or it times out.

Parameters:
target_frameThe frame into which to transform
target_timeThe time into which to transform
source_frameThe frame from which to transform
source_timeThe time from which to transform
fixed_frameThe frame in which to treat the transform as constant in time
timeoutHow long to block before failing
polling_sleep_durationHow often to retest if failed
error_msgA pointer to a string which will be filled with why the transform failed, if not NULL

Definition at line 670 of file tf.cpp.

template<typename F >
int Transformer::walkToTopParent ( F &  f,
ros::Time  time,
CompactFrameID  target_id,
CompactFrameID  source_id,
std::string *  error_string 
) const [private]

Definition at line 241 of file tf.cpp.


Member Data Documentation

How long to cache transform history.

Definition at line 370 of file tf.h.

How long to cache transform history.

Definition at line 360 of file tf.h.

const double tf::Transformer::DEFAULT_CACHE_TIME = 10.0 [static]

10.0 is the default amount of time to cache data in seconds, set in cpp file.

Definition at line 91 of file tf.h.

The default amount of time to extrapolate.

Definition at line 92 of file tf.h.

Definition at line 392 of file tf.h.

std::map<CompactFrameID, std::string> tf::Transformer::frame_authority_ [protected]

A map to lookup the most recent authority for a given frame.

Definition at line 357 of file tf.h.

boost::recursive_mutex tf::Transformer::frame_mutex_ [mutable, protected]

A mutex to protect testing and allocating new frames on the above vector.

Definition at line 367 of file tf.h.

Definition at line 353 of file tf.h.

std::vector<std::string> tf::Transformer::frameIDs_reverse [protected]

A map from CompactFrameID frame_id_numbers to string for debugging and output.

Definition at line 355 of file tf.h.

std::vector<TimeCache*> tf::Transformer::frames_ [protected]

The pointers to potential frames that the tree can be made of. The frames will be dynamically allocated at run time when set the first time.

Definition at line 364 of file tf.h.

whether or not to interpolate or extrapolate

Definition at line 373 of file tf.h.

whether or not to allow extrapolation

Definition at line 376 of file tf.h.

const unsigned int tf::Transformer::MAX_GRAPH_DEPTH = 100UL [static]

The maximum number of time to recurse before assuming the tree has a loop.

Definition at line 90 of file tf.h.

std::string tf::Transformer::tf_prefix_ [protected]

transform prefix to apply as necessary

Definition at line 380 of file tf.h.

Signal which is fired whenever new transform data has arrived, from the thread the data arrived in.

Definition at line 384 of file tf.h.

Definition at line 385 of file tf.h.

Definition at line 388 of file tf.h.


The documentation for this class was generated from the following files:
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tf
Author(s): Tully Foote, Eitan Marder-Eppstein, Wim Meeussen
autogenerated on Thu Aug 22 2013 11:29:02