#include <transform_collection.h>
Public Member Functions | |
| virtual tf::StampedTransform | lookupTransform (const std::string &target_frame, const std::string &source_frame, double t) const |
| void | putTransform (tf::StampedTransform) |
| Put the transform into the collection. | |
| TransformCollection (MessageCollection< tf::tfMessage > &coll, const double search_back=10.0, const double search_forward=1.0) | |
Private Attributes | |
| MessageCollection< tf::tfMessage > | coll_ |
| double | search_back_ |
| double | search_forward_ |
Detailed Description
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 67 of file transform_collection.h.
Constructor & Destructor Documentation
| warehouse_ros::TransformCollection::TransformCollection | ( | MessageCollection< tf::tfMessage > & | coll, |
| const double | search_back = 10.0, |
||
| const double | search_forward = 1.0 |
||
| ) | [inline] |
Definition at line 70 of file transform_collection.h.
Member Function Documentation
| tf::StampedTransform warehouse_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 warehouse_ros::TransformSource.
Definition at line 45 of file transform_collection.cpp.
Put the transform into the collection.
Definition at line 75 of file transform_collection.cpp.
Member Data Documentation
MessageCollection<tf::tfMessage> warehouse_ros::TransformCollection::coll_ [private] |
Definition at line 85 of file transform_collection.h.
double warehouse_ros::TransformCollection::search_back_ [private] |
Definition at line 86 of file transform_collection.h.
double warehouse_ros::TransformCollection::search_forward_ [private] |
Definition at line 87 of file transform_collection.h.
The documentation for this class was generated from the following files: