tf2::TimeCache Class Reference

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...

#include <time_cache.h>

Inheritance diagram for tf2::TimeCache:

Public Member Functions
virtual void	clearList ()
	Clear the list of stored values. More...
virtual bool	getData (ros::Time time, TransformStorage &data_out, std::string *error_str=0)
	Virtual methods. More...
virtual P_TimeAndFrameID	getLatestTimeAndParent ()
	Get the latest time stored in this cache, and the parent associated with it. Returns parent = 0 if no data. More...
virtual ros::Time	getLatestTimestamp ()
	Get the latest timestamp cached. More...
virtual unsigned int	getListLength ()
	Debugging information methods. More...
virtual ros::Time	getOldestTimestamp ()
	Get the oldest timestamp cached. More...
virtual CompactFrameID	getParent (ros::Time time, std::string *error_str)
	Retrieve the parent at a specific time. More...
virtual bool	insertData (const TransformStorage &new_data, std::string *error_str=0)
	Insert data into the cache. More...
	TimeCache (ros::Duration max_storage_time=ros::Duration().fromNSec(DEFAULT_MAX_STORAGE_TIME))

Static Public Attributes
static const int64_t	DEFAULT_MAX_STORAGE_TIME = 10ULL * 1000000000LL
	default value of 10 seconds storage More...
static const unsigned int	MAX_LENGTH_LINKED_LIST = 1000000
	Maximum length of linked list, to make sure not to be able to use unlimited memory. More...
static const int	MIN_INTERPOLATION_DISTANCE = 5
	Number of nano-seconds to not interpolate below. More...

Private Types
typedef std::deque< TransformStorage >	L_TransformStorage

Private Member Functions
uint8_t	findClosest (TransformStorage *&one, TransformStorage *&two, ros::Time target_time, std::string *error_str)
	A helper function for getData. More...
void	interpolate (const TransformStorage &one, const TransformStorage &two, ros::Time time, TransformStorage &output)
void	pruneList ()

Private Attributes
ros::Duration	max_storage_time_
L_TransformStorage	storage_

Detailed Description

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.

Definition at line 92 of file time_cache.h.

Member Typedef Documentation

L_TransformStorage

typedef std::deque<TransformStorage> tf2::TimeCache::L_TransformStorage

private

Definition at line 117 of file time_cache.h.

Constructor & Destructor Documentation

TimeCache()

tf2::TimeCache::TimeCache

(

ros::Duration

max_storage_time = ros::Duration().fromNSec(DEFAULT_MAX_STORAGE_TIME)

)

Definition at line 59 of file cache.cpp.

Member Function Documentation

clearList()

void tf2::TimeCache::clearList ( )

virtual

Clear the list of stored values.

Implements tf2::TimeCacheInterface.

Definition at line 295 of file cache.cpp.

findClosest()

uint8_t tf2::TimeCache::findClosest ( TransformStorage *&  one, TransformStorage *&  two, ros::Time  target_time, std::string *  error_str  )

inlineprivate

A helper function for getData.

Definition at line 111 of file cache.cpp.

getData()

bool tf2::TimeCache::getData ( ros::Time  time, TransformStorage &  data_out, std::string *  error_str = 0  )

virtual

Virtual methods.

Implements tf2::TimeCacheInterface.

Definition at line 208 of file cache.cpp.

getLatestTimeAndParent()

P_TimeAndFrameID tf2::TimeCache::getLatestTimeAndParent ( )

virtual

Get the latest time stored in this cache, and the parent associated with it. Returns parent = 0 if no data.

Implements tf2::TimeCacheInterface.

Definition at line 305 of file cache.cpp.

getLatestTimestamp()

ros::Time tf2::TimeCache::getLatestTimestamp ( )

virtual

Get the latest timestamp cached.

Implements tf2::TimeCacheInterface.

Definition at line 316 of file cache.cpp.

getListLength()

unsigned int tf2::TimeCache::getListLength ( )

virtual

Debugging information methods.

Implements tf2::TimeCacheInterface.

Definition at line 300 of file cache.cpp.

getOldestTimestamp()

ros::Time tf2::TimeCache::getOldestTimestamp ( )

virtual

Get the oldest timestamp cached.

Implements tf2::TimeCacheInterface.

Definition at line 322 of file cache.cpp.

getParent()

CompactFrameID tf2::TimeCache::getParent ( ros::Time  time, std::string *  error_str  )

virtual

Retrieve the parent at a specific time.

Implements tf2::TimeCacheInterface.

Definition at line 241 of file cache.cpp.

insertData()

bool tf2::TimeCache::insertData ( const TransformStorage &  new_data, std::string *  error_str = 0  )

virtual

Insert data into the cache.

Implements tf2::TimeCacheInterface.

Definition at line 255 of file cache.cpp.

interpolate()

void tf2::TimeCache::interpolate ( const TransformStorage &  one, const TransformStorage &  two, ros::Time  time, TransformStorage &  output  )

inlineprivate

Definition at line 186 of file cache.cpp.

pruneList()

void tf2::TimeCache::pruneList ( )

private

Definition at line 328 of file cache.cpp.

Member Data Documentation

DEFAULT_MAX_STORAGE_TIME

const int64_t tf2::TimeCache::DEFAULT_MAX_STORAGE_TIME = 10ULL * 1000000000LL

static

default value of 10 seconds storage

Definition at line 97 of file time_cache.h.

MAX_LENGTH_LINKED_LIST

const unsigned int tf2::TimeCache::MAX_LENGTH_LINKED_LIST = 1000000

static

Maximum length of linked list, to make sure not to be able to use unlimited memory.

Definition at line 96 of file time_cache.h.

max_storage_time_

ros::Duration tf2::TimeCache::max_storage_time_

private

Definition at line 120 of file time_cache.h.

MIN_INTERPOLATION_DISTANCE

const int tf2::TimeCache::MIN_INTERPOLATION_DISTANCE = 5

static

Number of nano-seconds to not interpolate below.

Definition at line 95 of file time_cache.h.

storage_

L_TransformStorage tf2::TimeCache::storage_

private

Definition at line 118 of file time_cache.h.

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

• time_cache.h
• cache.cpp