tf2 Namespace Reference

Classes
class	BufferCore
	A Class which provides coordinate transforms between any two frames in a system. More...
struct	CanTransformAccum
class	ConnectivityException
	An exception class to notify of no connection. More...
class	ExtrapolationException
	An exception class to notify that the requested value would have required extrapolation beyond current limits. More...
class	InvalidArgumentException
	An exception class to notify that one of the arguments is invalid. More...
class	LookupException
	An exception class to notify of bad frame number. More...
class	Stamped
	The data type which will be cross compatable with geometry_msgs This is the tf2 datatype equivilant of a MessageStamped. More...
class	StaticCache
struct	TimeAndFrameIDFrameComparator
class	TimeCache
	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...
class	TimeCacheInterface
class	TimeoutException
	An exception class to notify that a timeout has occured. More...
struct	TransformAccum
class	TransformException
	A base class for all tf2 exceptions This inherits from ros::exception which inherits from std::runtime_exception. More...
class	TransformStorage
	Storage for transforms and their parent. More...
Typedefs
typedef uint32_t	CompactFrameID
typedef std::pair< ros::Time, CompactFrameID >	P_TimeAndFrameID
typedef uint32_t	TransformableCallbackHandle
typedef uint64_t	TransformableRequestHandle
Enumerations
enum	TransformableResult { TransformAvailable, TransformFailure }
enum	WalkEnding { Identity, TargetParentOfSource, SourceParentOfTarget, FullPath }
Functions
template<typename T >
bool	operator== (const Stamped< T > &a, const Stamped< T > &b)
	Comparison Operator for Stamped datatypes.
void	setIdentity (geometry_msgs::Transform &tx)
bool	startsWithSlash (const std::string &frame_id)
std::string	stripSlash (const std::string &in)
void	transformMsgToTF2 (const geometry_msgs::Transform &msg, btTransform &bt)
	convert Transform msg to Transform
void	transformTF2ToMsg (const btTransform &bt, geometry_msgs::Transform &msg)
	convert Transform to Transform msg
void	transformTF2ToMsg (const btTransform &bt, geometry_msgs::TransformStamped &msg, ros::Time stamp, const std::string &frame_id, const std::string &child_frame_id)
	convert Transform to Transform msg
void	transformTF2ToMsg (const btQuaternion &orient, const btVector3 &pos, geometry_msgs::Transform &msg)
void	transformTF2ToMsg (const btQuaternion &orient, const btVector3 &pos, geometry_msgs::TransformStamped &msg, ros::Time stamp, const std::string &frame_id, const std::string &child_frame_id)

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Detailed Description

Author:

Tully Foote

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Typedef Documentation

typedef uint32_t tf2::CompactFrameID

Definition at line 50 of file transform_storage.h.

typedef std::pair< ros::Time, CompactFrameID > tf2::P_TimeAndFrameID

Definition at line 54 of file buffer_core.h.

typedef uint32_t tf2::TransformableCallbackHandle

Definition at line 55 of file buffer_core.h.

typedef uint64_t tf2::TransformableRequestHandle

Definition at line 56 of file buffer_core.h.

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Enumeration Type Documentation

enum tf2::TransformableResult

Enumerator:

TransformAvailable
TransformFailure

Definition at line 60 of file buffer_core.h.

enum tf2::WalkEnding

Enumerator:

Identity
TargetParentOfSource
SourceParentOfTarget
FullPath

Definition at line 290 of file buffer_core.cpp.

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Function Documentation

template<typename T >

bool tf2::operator==	(	const Stamped< T > &	a,
		const Stamped< T > &	b
	)

Comparison Operator for Stamped datatypes.

Definition at line 68 of file transform_datatypes.h.

void tf2::setIdentity

(

geometry_msgs::Transform &

tx

)

Definition at line 97 of file buffer_core.cpp.

bool tf2::startsWithSlash

(

const std::string &

frame_id

)

Definition at line 108 of file buffer_core.cpp.

std::string tf2::stripSlash

(

const std::string &

in

)

Definition at line 116 of file buffer_core.cpp.

void tf2::transformMsgToTF2	(	const geometry_msgs::Transform &	msg,
		btTransform &	bt
	)

convert Transform msg to Transform

Definition at line 54 of file buffer_core.cpp.

void tf2::transformTF2ToMsg	(	const btTransform &	bt,
		geometry_msgs::Transform &	msg
	)

convert Transform to Transform msg

Definition at line 58 of file buffer_core.cpp.

void tf2::transformTF2ToMsg	(	const btTransform &	bt,
		geometry_msgs::TransformStamped &	msg,
		ros::Time	stamp,
		const std::string &	frame_id,
		const std::string &	child_frame_id
	)

convert Transform to Transform msg

Definition at line 70 of file buffer_core.cpp.

void tf2::transformTF2ToMsg	(	const btQuaternion &	orient,
		const btVector3 &	pos,
		geometry_msgs::Transform &	msg
	)

Definition at line 78 of file buffer_core.cpp.

void tf2::transformTF2ToMsg	(	const btQuaternion &	orient,
		const btVector3 &	pos,
		geometry_msgs::TransformStamped &	msg,
		ros::Time	stamp,
		const std::string &	frame_id,
		const std::string &	child_frame_id
	)

Definition at line 89 of file buffer_core.cpp.