This class inherits from Transformer and automatically subscribes to ROS transform messages. More...

#include <transform_listener.h>

Inheritance diagram for tf::TransformListener:

Public Member Functions
bool	getFrames (tf::FrameGraph::Request &, tf::FrameGraph::Response &res)
std::string	resolve (const std::string &frame_name)
	TransformListener (ros::Duration max_cache_time=ros::Duration(DEFAULT_CACHE_TIME), bool spin_thread=true)
	Constructor for transform listener.
	TransformListener (const ros::NodeHandle &nh, ros::Duration max_cache_time=ros::Duration(DEFAULT_CACHE_TIME), bool spin_thread=true)
	Alternate constructor for transform listener.
void	transformPoint (const std::string &target_frame, const geometry_msgs::PointStamped &stamped_in, geometry_msgs::PointStamped &stamped_out) const
	Transform a Stamped Point Message into the target frame This can throw all that lookupTransform can throw as well as tf::InvalidTransform.
void	transformPoint (const std::string &target_frame, const ros::Time &target_time, const geometry_msgs::PointStamped &pin, const std::string &fixed_frame, geometry_msgs::PointStamped &pout) const
	Transform a Stamped Point Message into the target frame and time This can throw all that lookupTransform can throw as well as tf::InvalidTransform.
void	transformPointCloud (const std::string &target_frame, const sensor_msgs::PointCloud &pcin, sensor_msgs::PointCloud &pcout) const
	Transform a sensor_msgs::PointCloud natively This can throw all that lookupTransform can throw as well as tf::InvalidTransform.
void	transformPointCloud (const std::string &target_frame, const ros::Time &target_time, const sensor_msgs::PointCloud &pcin, const std::string &fixed_frame, sensor_msgs::PointCloud &pcout) const
	Transform a sensor_msgs::PointCloud in space and time This can throw all that lookupTransform can throw as well as tf::InvalidTransform.
void	transformPose (const std::string &target_frame, const geometry_msgs::PoseStamped &stamped_in, geometry_msgs::PoseStamped &stamped_out) const
	Transform a Stamped Pose Message into the target frame This can throw all that lookupTransform can throw as well as tf::InvalidTransform.
void	transformPose (const std::string &target_frame, const ros::Time &target_time, const geometry_msgs::PoseStamped &pin, const std::string &fixed_frame, geometry_msgs::PoseStamped &pout) const
	Transform a Stamped Pose Message into the target frame and time This can throw all that lookupTransform can throw as well as tf::InvalidTransform.
void	transformQuaternion (const std::string &target_frame, const geometry_msgs::QuaternionStamped &stamped_in, geometry_msgs::QuaternionStamped &stamped_out) const
	Transform a Stamped Quaternion Message into the target frame This can throw all that lookupTransform can throw as well as tf::InvalidTransform.
void	transformQuaternion (const std::string &target_frame, const ros::Time &target_time, const geometry_msgs::QuaternionStamped &qin, const std::string &fixed_frame, geometry_msgs::QuaternionStamped &qout) const
	Transform a Stamped Quaternion Message into the target frame This can throw all that lookupTransform can throw as well as tf::InvalidTransform.
void	transformVector (const std::string &target_frame, const geometry_msgs::Vector3Stamped &stamped_in, geometry_msgs::Vector3Stamped &stamped_out) const
	Transform a Stamped Vector Message into the target frame This can throw all that lookupTransform can throw as well as tf::InvalidTransform.
void	transformVector (const std::string &target_frame, const ros::Time &target_time, const geometry_msgs::Vector3Stamped &vin, const std::string &fixed_frame, geometry_msgs::Vector3Stamped &vout) const
	Transform a Stamped Vector Message into the target frame and time This can throw all that lookupTransform can throw as well as tf::InvalidTransform.
	~TransformListener ()
Protected Member Functions
bool	ok () const
Private Member Functions
void	transformPointCloud (const std::string &target_frame, const Transform &transform, const ros::Time &target_time, const sensor_msgs::PointCloud &pcin, sensor_msgs::PointCloud &pcout) const
	a helper function to be used for both transfrom pointCloud methods
Private Attributes
ros::NodeHandle	node_
tf2_ros::TransformListener	tf2_listener_
	replacing implementation with tf2_ros'

Detailed Description

This class inherits from Transformer and automatically subscribes to ROS transform messages.

Definition at line 69 of file transform_listener.h.

Constructor & Destructor Documentation

TransformListener::TransformListener	(	ros::Duration	max_cache_time = `ros::Duration(DEFAULT_CACHE_TIME)`,
		bool	spin_thread = `true`
	)

Constructor for transform listener.

Parameters:

max_cache_time How long to store transform information

Definition at line 43 of file transform_listener.cpp.

TransformListener::TransformListener	(	const ros::NodeHandle &	nh,
		ros::Duration	max_cache_time = `ros::Duration(DEFAULT_CACHE_TIME)`,
		bool	spin_thread = `true`
	)

Alternate constructor for transform listener.

Parameters:

nh	The NodeHandle to use for any ROS interaction
max_cache_time	How long to store transform information

Definition at line 49 of file transform_listener.cpp.

TransformListener::~TransformListener ( )

Definition at line 55 of file transform_listener.cpp.

Member Function Documentation

bool tf::TransformListener::getFrames	(	tf::FrameGraph::Request &	,
		tf::FrameGraph::Response &	res
	)		`[inline]`

Todo:: move to high precision laser projector class void projectAndTransformLaserScan(const sensor_msgs::LaserScan& scan_in, sensor_msgs::PointCloud& pcout);

Definition at line 147 of file transform_listener.h.

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

Reimplemented from tf::Transformer.

Definition at line 61 of file transform_listener.cpp.

std::string tf::TransformListener::resolve ( const std::string & frame_name ) [inline]

Definition at line 154 of file transform_listener.h.

void TransformListener::transformPoint	(	const std::string &	target_frame,
		const geometry_msgs::PointStamped &	stamped_in,
		geometry_msgs::PointStamped &	stamped_out
	)		const

Transform a Stamped Point Message into the target frame This can throw all that lookupTransform can throw as well as tf::InvalidTransform.

Definition at line 87 of file transform_listener.cpp.

void TransformListener::transformPoint	(	const std::string &	target_frame,
		const ros::Time &	target_time,
		const geometry_msgs::PointStamped &	pin,
		const std::string &	fixed_frame,
		geometry_msgs::PointStamped &	pout
	)		const

Transform a Stamped Point Message into the target frame and time This can throw all that lookupTransform can throw as well as tf::InvalidTransform.

Definition at line 162 of file transform_listener.cpp.

void TransformListener::transformPointCloud	(	const std::string &	target_frame,
		const sensor_msgs::PointCloud &	pcin,
		sensor_msgs::PointCloud &	pcout
	)		const

Transform a sensor_msgs::PointCloud natively This can throw all that lookupTransform can throw as well as tf::InvalidTransform.

Definition at line 184 of file transform_listener.cpp.

void TransformListener::transformPointCloud	(	const std::string &	target_frame,
		const ros::Time &	target_time,
		const sensor_msgs::PointCloud &	pcin,
		const std::string &	fixed_frame,
		sensor_msgs::PointCloud &	pcout
	)		const

Transform a sensor_msgs::PointCloud in space and time This can throw all that lookupTransform can throw as well as tf::InvalidTransform.

Definition at line 191 of file transform_listener.cpp.

void TransformListener::transformPointCloud	(	const std::string &	target_frame,
		const Transform &	transform,
		const ros::Time &	target_time,
		const sensor_msgs::PointCloud &	pcin,
		sensor_msgs::PointCloud &	pcout
	)		const `[private]`

a helper function to be used for both transfrom pointCloud methods

Definition at line 217 of file transform_listener.cpp.

void TransformListener::transformPose	(	const std::string &	target_frame,
		const geometry_msgs::PoseStamped &	stamped_in,
		geometry_msgs::PoseStamped &	stamped_out
	)		const

Transform a Stamped Pose Message into the target frame This can throw all that lookupTransform can throw as well as tf::InvalidTransform.

Definition at line 97 of file transform_listener.cpp.

void TransformListener::transformPose	(	const std::string &	target_frame,
		const ros::Time &	target_time,
		const geometry_msgs::PoseStamped &	pin,
		const std::string &	fixed_frame,
		geometry_msgs::PoseStamped &	pout
	)		const

Transform a Stamped Pose Message into the target frame and time This can throw all that lookupTransform can throw as well as tf::InvalidTransform.

Definition at line 172 of file transform_listener.cpp.

void TransformListener::transformQuaternion	(	const std::string &	target_frame,
		const geometry_msgs::QuaternionStamped &	stamped_in,
		geometry_msgs::QuaternionStamped &	stamped_out
	)		const

Transform a Stamped Quaternion Message into the target frame This can throw all that lookupTransform can throw as well as tf::InvalidTransform.

Definition at line 65 of file transform_listener.cpp.

void TransformListener::transformQuaternion	(	const std::string &	target_frame,
		const ros::Time &	target_time,
		const geometry_msgs::QuaternionStamped &	qin,
		const std::string &	fixed_frame,
		geometry_msgs::QuaternionStamped &	qout
	)		const

Transform a Stamped Quaternion Message into the target frame This can throw all that lookupTransform can throw as well as tf::InvalidTransform.

Definition at line 141 of file transform_listener.cpp.

void TransformListener::transformVector	(	const std::string &	target_frame,
		const geometry_msgs::Vector3Stamped &	stamped_in,
		geometry_msgs::Vector3Stamped &	stamped_out
	)		const

Transform a Stamped Vector Message into the target frame This can throw all that lookupTransform can throw as well as tf::InvalidTransform.

Definition at line 77 of file transform_listener.cpp.

void TransformListener::transformVector	(	const std::string &	target_frame,
		const ros::Time &	target_time,
		const geometry_msgs::Vector3Stamped &	vin,
		const std::string &	fixed_frame,
		geometry_msgs::Vector3Stamped &	vout
	)		const

Transform a Stamped Vector Message into the target frame and time This can throw all that lookupTransform can throw as well as tf::InvalidTransform.

Definition at line 152 of file transform_listener.cpp.

Member Data Documentation

ros::NodeHandle tf::TransformListener::node_ [private]

Definition at line 167 of file transform_listener.h.

tf2_ros::TransformListener tf::TransformListener::tf2_listener_ [private]

replacing implementation with tf2_ros'

Definition at line 170 of file transform_listener.h.

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

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation