Public Types | Public Member Functions | Private Member Functions | Private Attributes
tf2_ros::BufferClient Class Reference

Action client-based implementation of the tf2_ros::BufferInterface abstract data type. More...

#include <buffer_client.h>

Inheritance diagram for tf2_ros::BufferClient:
Inheritance graph
[legend]

List of all members.

Public Types

typedef
actionlib::SimpleActionClient
< tf2_msgs::LookupTransformAction > 
LookupActionClient

Public Member Functions

 BufferClient (std::string ns, double check_frequency=10.0, ros::Duration timeout_padding=ros::Duration(2.0))
 BufferClient constructor.
virtual bool canTransform (const std::string &target_frame, const std::string &source_frame, const ros::Time &time, const ros::Duration timeout=ros::Duration(0.0), std::string *errstr=NULL) const
 Test if a transform is possible.
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=ros::Duration(0.0), std::string *errstr=NULL) const
 Test if a transform is possible.
virtual
geometry_msgs::TransformStamped 
lookupTransform (const std::string &target_frame, const std::string &source_frame, const ros::Time &time, const ros::Duration timeout=ros::Duration(0.0)) const
 Get the transform between two frames by frame ID.
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=ros::Duration(0.0)) const
 Get the transform between two frames by frame ID assuming fixed frame.
bool waitForServer (const ros::Duration &timeout=ros::Duration(0))
 Block until the action server is ready to respond to requests.

Private Member Functions

geometry_msgs::TransformStamped processGoal (const tf2_msgs::LookupTransformGoal &goal) const
geometry_msgs::TransformStamped processResult (const tf2_msgs::LookupTransformResult &result) const

Private Attributes

double check_frequency_
LookupActionClient client_
ros::Duration timeout_padding_

Detailed Description

Action client-based implementation of the tf2_ros::BufferInterface abstract data type.

BufferClient uses actionlib to coordinate waiting for available transforms.

You can use this class with a tf2_ros::BufferServer and tf2_ros::TransformListener in a separate process.

Definition at line 52 of file buffer_client.h.


Member Typedef Documentation

Definition at line 55 of file buffer_client.h.


Constructor & Destructor Documentation

tf2_ros::BufferClient::BufferClient ( std::string  ns,
double  check_frequency = 10.0,
ros::Duration  timeout_padding = ros::Duration(2.0) 
)

BufferClient constructor.

Parameters:
nsThe namespace in which to look for a BufferServer
check_frequencyThe frequency in Hz to check whether the BufferServer has completed a request
timeout_paddingThe amount of time to allow passed the desired timeout on the client side for communication lag

Definition at line 41 of file buffer_client.cpp.


Member Function Documentation

bool tf2_ros::BufferClient::canTransform ( const std::string &  target_frame,
const std::string &  source_frame,
const ros::Time time,
const ros::Duration  timeout = ros::Duration(0.0),
std::string *  errstr = NULL 
) const [virtual]

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
timeoutHow long to block before failing
errstrA 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 132 of file buffer_client.cpp.

bool tf2_ros::BufferClient::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 = ros::Duration(0.0),
std::string *  errstr = NULL 
) const [virtual]

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
timeoutHow long to block before failing
errstrA 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 151 of file buffer_client.cpp.

geometry_msgs::TransformStamped tf2_ros::BufferClient::lookupTransform ( const std::string &  target_frame,
const std::string &  source_frame,
const ros::Time time,
const ros::Duration  timeout = ros::Duration(0.0) 
) const [virtual]

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)
timeoutHow 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 48 of file buffer_client.cpp.

geometry_msgs::TransformStamped tf2_ros::BufferClient::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 = ros::Duration(0.0) 
) const [virtual]

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.
timeoutHow 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 62 of file buffer_client.cpp.

geometry_msgs::TransformStamped tf2_ros::BufferClient::processGoal ( const tf2_msgs::LookupTransformGoal &  goal) const [private]

Definition at line 79 of file buffer_client.cpp.

geometry_msgs::TransformStamped tf2_ros::BufferClient::processResult ( const tf2_msgs::LookupTransformResult &  result) const [private]

Definition at line 106 of file buffer_client.cpp.

bool tf2_ros::BufferClient::waitForServer ( const ros::Duration timeout = ros::Duration(0)) [inline]

Block until the action server is ready to respond to requests.

Parameters:
timeoutTime to wait for the server.
Returns:
True if the server is ready, false otherwise.

Definition at line 126 of file buffer_client.h.


Member Data Documentation

Definition at line 135 of file buffer_client.h.

Definition at line 134 of file buffer_client.h.

Definition at line 136 of file buffer_client.h.


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


tf2_ros
Author(s): Eitan Marder-Eppstein, Wim Meeussen
autogenerated on Thu Jun 6 2019 20:23:00