#include <transform_collection.h>
Public Member Functions | |
| virtual tf::StampedTransform | lookupTransform (const std::string &target_frame, const std::string &source_frame, double t) const |
| TransformCollection (const std::string &db, const std::string &coll="tf", const std::string &host="localhost", const unsigned port=27017, const double history_length=10.0) | |
Private Member Functions | |
| mongo::Query | transformQuery (double t) const |
| Return a query that returns transforms relevant to query at time t. | |
Private Attributes | |
| MessageCollection< tf::tfMessage > | coll_ |
| double | history_length_ |
The setup is that you have a db containing a collection with tf messages, in which each message has a metadata field named 'stamp', that equals the tf timestamp (this could be generated, e.g., with bag_to_db followed by add_metadata). Given such a collection, this class allows querying for a transform as with tf::TransformListener::lookupTransform, except this is deterministic with no dependency on network state or message queues.
Definition at line 69 of file transform_collection.h.
| mongo_ros::TransformCollection::TransformCollection | ( | const std::string & | db, |
| const std::string & | coll = "tf", |
||
| const std::string & | host = "localhost", |
||
| const unsigned | port = 27017, |
||
| const double | history_length = 10.0 |
||
| ) | [inline] |
Definition at line 72 of file transform_collection.h.
| tf::StampedTransform mongo_ros::TransformCollection::lookupTransform | ( | const std::string & | target_frame, |
| const std::string & | source_frame, | ||
| double | t | ||
| ) | const [virtual] |
Get the transform between two frames at a given timepoint. Can throw all the exceptions tf::lookupTransform can.
Implements mongo_ros::TransformSource.
Definition at line 65 of file transform_collection.cpp.
| mongo::Query mongo_ros::TransformCollection::transformQuery | ( | double | t | ) | const [private] |
Return a query that returns transforms relevant to query at time t.
Definition at line 55 of file transform_collection.cpp.
MessageCollection<tf::tfMessage> mongo_ros::TransformCollection::coll_ [private] |
Definition at line 94 of file transform_collection.h.
double mongo_ros::TransformCollection::history_length_ [private] |
Definition at line 95 of file transform_collection.h.
