Provides overrides of canTransform() that can be interrupted. Normally, canTransform() waits until transform is available, timeout is reached (which may be never in paused simulation), time jumps backwards or ros::ok() returns false. This buffer adds another option of interrupting the call. It also allows "wrapping around" another buffer that does not support this interruptibility and add this ability to it. More...

#include <interruptible_buffer.h>

Inheritance diagram for cras::InterruptibleTFBuffer:

[legend]

Public Member Functions
::std::string	allFramesAsString () const
	A way to see what frames have been cached. Useful for debugging. More...

::std::string	allFramesAsYAML () const
	Backwards compatibility for #84. More...

::std::string	allFramesAsYAML (double current_time) const
	A way to see what frames have been cached in yaml format. Useful for debugging tools. More...

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, ::ros::Duration timeout) const
	Test if a transform is possible. More...

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, ::ros::Duration timeout, ::std::string *errstr) const override

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, ::std::string *error_msg=nullptr) const
	Test if a transform is possible. More...

bool	canTransform (const ::std::string &target_frame, const ::std::string &source_frame, const ::ros::Time &time, ::ros::Duration timeout) const
	Test if a transform is possible. More...

bool	canTransform (const ::std::string &target_frame, const ::std::string &source_frame, const ::ros::Time &time, ::ros::Duration timeout, ::std::string *errstr) const override

bool	canTransform (const ::std::string &target_frame, const ::std::string &source_frame, const ::ros::Time &time, ::std::string *error_msg=nullptr) const
	Test if a transform is possible. More...

void	clear ()
	Clear all data. More...

::ros::Duration	getCacheLength ()
	Get the duration over which this transformer will cache. More...

::tf2::BufferCore &	getRawBuffer ()
	Get the raw tf2::BufferCore that actually stores the transforms. More...

const ::tf2::BufferCore &	getRawBuffer () const
	Get the raw tf2::BufferCore that actually stores the transforms. More...

	InterruptibleTFBuffer (const ::ros::Duration &cacheTime={::tf2::BufferCore::DEFAULT_CACHE_TIME, 0})
	Create the buffer. More...

	InterruptibleTFBuffer (const ::std::shared_ptr<::tf2::BufferCore > &parentBuffer)
	Create the buffer that relays lookups to the given parentBuffer and adds the interruptible behavior to it. Cache duration is the same as in parentBuffer. Only getCacheLength(), canTransform() and lookupTransform() methods are valid on this buffer in this mode. Any modifications/tf listeners should be done on the parent buffer. More...

::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
	Get the transform between two frames by frame ID assuming fixed frame. More...

::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) const override

::geometry_msgs::TransformStamped	lookupTransform (const ::std::string &target_frame, const ::std::string &source_frame, const ::ros::Time &time) const
	Get the transform between two frames by frame ID. More...

::geometry_msgs::TransformStamped	lookupTransform (const ::std::string &target_frame, const ::std::string &source_frame, const ::ros::Time &time, const ::ros::Duration timeout) const override

bool	ok () const override
	Whether it is OK to continue. If false, all pending lookups should stop as soon as possible. More...

virtual void	requestStop ()
	Request all pending lookups to stop. After calling this, `ok()` should return false. More...

bool	setCanTransformPollingScale (double scale)
	Set the scale by which `canTransform()` timeout is multiplied to determine the transform polling rate. More...

bool	setMinPollingDuration (const ::ros::Duration &duration)
	Set minimum duration of a pause between two transform polls. More...

bool	setTransform (const ::geometry_msgs::TransformStamped &transform, const ::std::string &authority, bool is_static=false)
	Add transform information to the tf data structure. More...

template<class A , class B >
B &	transform (const A &in, B &out, const ::std::string &target_frame, ::ros::Duration timeout={0, 0}) const
	Transform an input into the target frame and convert to a specified output type. It is templated on two types: the type of the input object and the type of the transformed output. For example, the template types could be Transform, Pose, Vector, or Quaternion messages type (as defined in geometry_msgs). The function will calculate the transformation and then convert the result into the specified output type. Compilation will fail if a known conversion does not exist bewteen the two template parameters. More...

template<class A , class B >
B &	transform (const A &in, B &out, const ::std::string &target_frame, const ::ros::Time &target_time, const ::std::string &fixed_frame, ::ros::Duration timeout={0, 0}) const
	Transform an input into the target frame and convert to a specified output type (advanced). It is templated on two types: the type of the input object and the type of the transformed output. For example, the template type could be a Transform, Pose, Vector, or Quaternion message type (as defined in geometry_msgs). The function will calculate the transformation and then convert the result into the specified output type. Compilation will fail if a known conversion does not exist bewteen the two template parameters. This function follows the advanced API, which allows transforming between different time points, and specifying a fixed frame that does not varying in time. More...

template<class T >
T	transform (const T &in, const ::std::string &target_frame, ::ros::Duration timeout={0, 0}) const
	Transform an input into the target frame. This function is templated and can take as input any valid mathematical object that tf knows how to apply a transform to, by way of the templated math conversions interface. For example, the template type could be a Transform, Pose, Vector, or Quaternion message type (as defined in geometry_msgs). More...

template<class T >
T	transform (const T &in, const ::std::string &target_frame, const ::ros::Time &target_time, const ::std::string &fixed_frame, ::ros::Duration timeout={0, 0}) const
	Transform an input into the target frame (advanced). This function is templated and can take as input any valid mathematical object that tf knows how to apply a transform to, by way of the templated math conversions interface. For example, the template type could be a Transform, Pose, Vector, or Quaternion message type (as defined in geometry_msgs). This function follows the advanced API, which allows transforming between different time points, and specifying a fixed frame that does not varying in time. More...

template<class T >
T &	transform (const T &in, T &out, const ::std::string &target_frame, ::ros::Duration timeout={0, 0}) const
	Transform an input into the target frame. This function is templated and can take as input any valid mathematical object that tf knows how to apply a transform to, by way of the templated math conversions interface. For example, the template type could be a Transform, Pose, Vector, or Quaternion message type (as defined in geometry_msgs). More...

template<class T >
T &	transform (const T &in, T &out, const ::std::string &target_frame, const ::ros::Time &target_time, const ::std::string &fixed_frame, ::ros::Duration timeout={0, 0}) const
	Transform an input into the target frame (advanced). This function is templated and can take as input any valid mathematical object that tf knows how to apply a transform to, by way of the templated math conversions interface. For example, the template type could be a Transform, Pose, Vector, or Quaternion message type (as defined in geometry_msgs). This function follows the advanced API, which allows transforming between different time points, and specifying a fixed frame that does not varying in time. More...

	~InterruptibleTFBuffer () override
	Destroys the class. Waits until a running `canTransform()` call is finished. More...

Public Member Functions inherited from cras::InterruptibleSleepInterface
	InterruptibleSleepInterface ()

virtual bool	sleep (const ::ros::Duration &duration) const
	Sleep for the given duration or until `ok()` returns false. More...

virtual	~InterruptibleSleepInterface ()
	Destroy the object waiting for a pending `sleep()` call to finish. More...

Protected Attributes
double	canTransformPollingScale {0.01}
	`canTransform()` timeout is multiplied by this scale and polling for the transform is done in these time steps. More...

::ros::Duration	minPollingDuration {0, 1000000}
	Minimum duration of a pause between two transform polls. If timeout * canTransformPollingScale would be smaller than this value, this value will be used instead to prevent too frequent queries. More...

const ::std::shared_ptr<::tf2::BufferCore >	parentBuffer {nullptr}
	If not null, this class relays all lookups to parentBuffer. More...

Protected Attributes inherited from cras::InterruptibleSleepInterface
::ros::WallDuration	pollDuration {0, 1000000}
	How long to wait between querying the `ok()` status and other conditions. More...

Private Attributes
mutable ::cras::ReverseSemaphore	callbackSemaphore
	Reverse semaphore guarding that the object is not destroyed before all pending callbacks finish. At the start of each callback, the semaphore is increased, and at the end of the callback, it is decreased. The destructor of this class will block until the semaphore reaches zero. More...

const ::std::shared_ptr<::cras::InterruptibleTFBuffer >	interruptibleParentBuffer {nullptr}
	If parentBuffer is set and it is an InterruptibleTFBuffer, its dynamic cast to this type is stored here. More...

bool	isOk {true}
	True until `requestStop()` is called. More...

Additional Inherited Members
Protected Types inherited from tf2::BufferCore
typedef boost::function< void(TransformableRequestHandle request_handle, const std::string &target_frame, const std::string &source_frame, ros::Time time, TransformableResult result)>	TransformableCallback

Protected Member Functions inherited from tf2_ros::Buffer
	Buffer (ros::Duration cache_time=ros::Duration(BufferCore::DEFAULT_CACHE_TIME), bool debug=false)

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, std::string *errstr=NULL) const

virtual bool	canTransform (const std::string &target_frame, const std::string &source_frame, const ros::Time &target_time, const ros::Duration timeout, std::string *errstr=NULL) const

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) const

virtual geometry_msgs::TransformStamped	lookupTransform (const std::string &target_frame, const std::string &source_frame, const ros::Time &time, const ros::Duration timeout) const

Protected Member Functions inherited from tf2_ros::BufferInterface
B &	transform (const A &in, B &out, const std::string &target_frame, const ros::Time &target_time, const std::string &fixed_frame, ros::Duration timeout=ros::Duration(0.0)) const

B &	transform (const A &in, B &out, const std::string &target_frame, ros::Duration timeout=ros::Duration(0.0)) const

T	transform (const T &in, const std::string &target_frame, const ros::Time &target_time, const std::string &fixed_frame, ros::Duration timeout=ros::Duration(0.0)) const

T	transform (const T &in, const std::string &target_frame, ros::Duration timeout=ros::Duration(0.0)) const

T &	transform (const T &in, T &out, const std::string &target_frame, const ros::Time &target_time, const std::string &fixed_frame, ros::Duration timeout=ros::Duration(0.0)) const

T &	transform (const T &in, T &out, const std::string &target_frame, ros::Duration timeout=ros::Duration(0.0)) const

Protected Member Functions inherited from tf2::BufferCore
boost::signals2::connection	_addTransformsChangedListener (boost::function< void(void)> callback)

std::string	_allFramesAsDot () const

std::string	_allFramesAsDot (double current_time) const

void	_chainAsVector (const std::string &target_frame, ros::Time target_time, const std::string &source_frame, ros::Time source_time, const std::string &fixed_frame, std::vector< std::string > &output) const

bool	_frameExists (const std::string &frame_id_str) const

void	_getFrameStrings (std::vector< std::string > &ids) const

int	_getLatestCommonTime (CompactFrameID target_frame, CompactFrameID source_frame, ros::Time &time, std::string *error_string) const

bool	_getParent (const std::string &frame_id, ros::Time time, std::string &parent) const

CompactFrameID	_lookupFrameNumber (const std::string &frameid_str) const

CompactFrameID	_lookupOrInsertFrameNumber (const std::string &frameid_str)

void	_removeTransformsChangedListener (boost::signals2::connection c)

CompactFrameID	_validateFrameId (const char *function_name_arg, const std::string &frame_id) const

TransformableCallbackHandle	addTransformableCallback (const TransformableCallback &cb)

TransformableRequestHandle	addTransformableRequest (TransformableCallbackHandle handle, const std::string &target_frame, const std::string &source_frame, ros::Time time)

std::string	allFramesAsString () const

std::string	allFramesAsYAML () const

std::string	allFramesAsYAML (double current_time) const

	BufferCore (ros::Duration cache_time_=ros::Duration(DEFAULT_CACHE_TIME))

void	cancelTransformableRequest (TransformableRequestHandle handle)

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, std::string *error_msg=NULL) const

bool	canTransform (const std::string &target_frame, const std::string &source_frame, const ros::Time &time, std::string *error_msg=NULL) const

void	clear ()

ros::Duration	getCacheLength ()

bool	isUsingDedicatedThread () const

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

geometry_msgs::TransformStamped	lookupTransform (const std::string &target_frame, const std::string &source_frame, const ros::Time &time) const

void	removeTransformableCallback (TransformableCallbackHandle handle)

bool	setTransform (const geometry_msgs::TransformStamped &transform, const std::string &authority, bool is_static=false)

void	setUsingDedicatedThread (bool value)

virtual	~BufferCore (void)

Protected Member Functions inherited from cras::InterruptibleSleepInterface
	InterruptibleSleepInterface ()

virtual bool	sleep (const ::ros::Duration &duration) const
	Sleep for the given duration or until `ok()` returns false. More...

virtual	~InterruptibleSleepInterface ()
	Destroy the object waiting for a pending `sleep()` call to finish. More...

Static Protected Attributes inherited from tf2::BufferCore
static const int	DEFAULT_CACHE_TIME

static const uint32_t	MAX_GRAPH_DEPTH

Detailed Description

Provides overrides of canTransform() that can be interrupted. Normally, canTransform() waits until transform is available, timeout is reached (which may be never in paused simulation), time jumps backwards or ros::ok() returns false. This buffer adds another option of interrupting the call. It also allows "wrapping around" another buffer that does not support this interruptibility and add this ability to it.

Note: In the "wrapping around" mode, do not call any other functions than canTransform() and lookupTransform(). Other functions will return wrong results.; The buffer is partly concurrent. This means canTransform() and lookupTransform() calls can be interleaved, but in the end all of them share the same tf2::BufferCore which locks the frames mutex in canTransform()/lookupTransform(). But they access the BufferCore only from time to time in some polling intervals, so concurrency should be good in the end.; The destructor of this class does not finish until no canTransform() or lookupTransform() call is being executed. Call requestStop() to instruct the buffer to reject any new requests and finish the ongoing ones as soon as possible, most probably resulting in failures.

Definition at line 42 of file interruptible_buffer.h.

Constructor & Destructor Documentation

◆ InterruptibleTFBuffer() [1/2]

cras::InterruptibleTFBuffer::InterruptibleTFBuffer ( const ::ros::Duration & cacheTime = {::tf2::BufferCore::DEFAULT_CACHE_TIME, 0} )

explicit

Create the buffer.

Parameters

[in] cacheTime How long to keep a history of transforms

◆ InterruptibleTFBuffer() [2/2]

cras::InterruptibleTFBuffer::InterruptibleTFBuffer ( const ::std::shared_ptr<::tf2::BufferCore > & parentBuffer )

explicit

Create the buffer that relays lookups to the given parentBuffer and adds the interruptible behavior to it. Cache duration is the same as in parentBuffer. Only getCacheLength(), canTransform() and lookupTransform() methods are valid on this buffer in this mode. Any modifications/tf listeners should be done on the parent buffer.

Parameters

[in] parentBuffer The buffer to relay lookups to.

◆ ~InterruptibleTFBuffer()

cras::InterruptibleTFBuffer::~InterruptibleTFBuffer ( )

override

Destroys the class. Waits until a running canTransform() call is finished.

Member Function Documentation

◆ allFramesAsString()

::std::string cras::InterruptibleTFBuffer::allFramesAsString ( ) const

A way to see what frames have been cached. Useful for debugging.

◆ allFramesAsYAML() [1/2]

::std::string cras::InterruptibleTFBuffer::allFramesAsYAML ( ) const

Backwards compatibility for #84.

◆ allFramesAsYAML() [2/2]

::std::string cras::InterruptibleTFBuffer::allFramesAsYAML ( double current_time ) const

A way to see what frames have been cached in yaml format. Useful for debugging tools.

◆ canTransform() [1/6]

bool cras::InterruptibleTFBuffer::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,
		::ros::Duration	timeout
	)		const

Test if a transform is possible.

Parameters

[in]	target_frame	The frame into which to transform.
[in]	target_time	The time into which to transform.
[in]	source_frame	The frame from which to transform.
[in]	source_time	The time from which to transform.
[in]	fixed_frame	The frame in which to treat the transform as constant in time.
[in]	timeout	How long to block before failing.

Returns: True if the transform is possible, false otherwise.

◆ canTransform() [2/6]

bool cras::InterruptibleTFBuffer::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,
		::ros::Duration	timeout,
		::std::string *	errstr
	)		const

override

◆ canTransform() [3/6]

bool cras::InterruptibleTFBuffer::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,
		::std::string *	error_msg = `nullptr`
	)		const

Test if a transform is possible.

Parameters

[in]	target_frame	The frame into which to transform
[in]	target_time	The time into which to transform
[in]	source_frame	The frame from which to transform
[in]	source_time	The time from which to transform
[in]	fixed_frame	The frame in which to treat the transform as constant in time
[out]	error_msg	A 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.

◆ canTransform() [4/6]

bool cras::InterruptibleTFBuffer::canTransform	(	const ::std::string &	target_frame,
		const ::std::string &	source_frame,
		const ::ros::Time &	time,
		::ros::Duration	timeout
	)		const

Test if a transform is possible.

Parameters

[in]	target_frame	The frame into which to transform.
[in]	source_frame	The frame from which to transform.
[in]	time	The time at which to transform.
[in]	timeout	How long to block before failing.

Returns: True if the transform is possible, false otherwise.

◆ canTransform() [5/6]

bool cras::InterruptibleTFBuffer::canTransform	(	const ::std::string &	target_frame,
		const ::std::string &	source_frame,
		const ::ros::Time &	time,
		::ros::Duration	timeout,
		::std::string *	errstr
	)		const

override

◆ canTransform() [6/6]

bool cras::InterruptibleTFBuffer::canTransform	(	const ::std::string &	target_frame,
		const ::std::string &	source_frame,
		const ::ros::Time &	time,
		::std::string *	error_msg = `nullptr`
	)		const

Test if a transform is possible.

Parameters

[in]	target_frame	The frame into which to transform
[in]	source_frame	The frame from which to transform
[in]	time	The time at which to transform
[out]	error_msg	A 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.

◆ clear()

void cras::InterruptibleTFBuffer::clear ( )

Clear all data.

◆ getCacheLength()

::ros::Duration cras::InterruptibleTFBuffer::getCacheLength ( )

Get the duration over which this transformer will cache.

◆ getRawBuffer() [1/2]

::tf2::BufferCore& cras::InterruptibleTFBuffer::getRawBuffer ( )

Get the raw tf2::BufferCore that actually stores the transforms.

Returns: The raw buffer.

◆ getRawBuffer() [2/2]

const ::tf2::BufferCore& cras::InterruptibleTFBuffer::getRawBuffer ( ) const

Get the raw tf2::BufferCore that actually stores the transforms.

Returns: The raw buffer.

◆ lookupTransform() [1/4]

::geometry_msgs::TransformStamped cras::InterruptibleTFBuffer::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

Get the transform between two frames by frame ID assuming fixed frame.

Parameters

[in]	target_frame	The frame to which data should be transformed
[in]	target_time	The time to which the data should be transformed. (0 will get the latest)
[in]	source_frame	The frame where the data originated
[in]	source_time	The time at which the source_frame should be evaluated. (0 will get the latest)
[in]	fixed_frame	The frame in which to assume the transform is constant in time.

Returns: The transform between the frames.

Exceptions

tf2::LookupException,tf2::ConnectivityException,tf2::ExtrapolationException,tf2::InvalidArgumentException

◆ lookupTransform() [2/4]

::geometry_msgs::TransformStamped cras::InterruptibleTFBuffer::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
	)		const

override

◆ lookupTransform() [3/4]

::geometry_msgs::TransformStamped cras::InterruptibleTFBuffer::lookupTransform	(	const ::std::string &	target_frame,
		const ::std::string &	source_frame,
		const ::ros::Time &	time
	)		const

Get the transform between two frames by frame ID.

Parameters

[in]	target_frame	The frame to which data should be transformed
[in]	source_frame	The frame where the data originated
[in]	time	The time at which the value of the transform is desired. (0 will get the latest)

Returns: The transform between the frames.

Exceptions

tf2::LookupException,tf2::ConnectivityException,tf2::ExtrapolationException,tf2::InvalidArgumentException

◆ lookupTransform() [4/4]

::geometry_msgs::TransformStamped cras::InterruptibleTFBuffer::lookupTransform	(	const ::std::string &	target_frame,
		const ::std::string &	source_frame,
		const ::ros::Time &	time,
		const ::ros::Duration	timeout
	)		const

override

◆ ok()

bool cras::InterruptibleTFBuffer::ok ( ) const

overridevirtual

Whether it is OK to continue. If false, all pending lookups should stop as soon as possible.

Returns: Whether it is OK to continue.

Reimplemented from cras::InterruptibleSleepInterface.

◆ requestStop()

virtual void cras::InterruptibleTFBuffer::requestStop ( )

virtual

Request all pending lookups to stop. After calling this, ok() should return false.

◆ setCanTransformPollingScale()

bool cras::InterruptibleTFBuffer::setCanTransformPollingScale ( double scale )

Set the scale by which canTransform() timeout is multiplied to determine the transform polling rate.

Parameters

scale The scale to set. Must be between 0 and 1.

Returns: Whether the given scale was set. Returns false if an invalid scale was provided.

◆ setMinPollingDuration()

bool cras::InterruptibleTFBuffer::setMinPollingDuration ( const ::ros::Duration & duration )

Set minimum duration of a pause between two transform polls.

Parameters

[in] duration The minimum duration. It has to be positive.

Returns: Whether the given duration is valid and was set.

◆ setTransform()

bool cras::InterruptibleTFBuffer::setTransform	(	const ::geometry_msgs::TransformStamped &	transform,
		const ::std::string &	authority,
		bool	is_static = `false`
	)

Add transform information to the tf data structure.

Parameters

[in]	transform	The transform to store
[in]	authority	The source of the information for this transform
[in]	is_static	Record this transform as a static transform. It will be good across all time. (This cannot be changed after the first call.)

Returns: True unless an error occurred.

◆ transform() [1/6]

template<class A , class B >

B& cras::InterruptibleTFBuffer::transform	(	const A &	in,
		B &	out,
		const ::std::string &	target_frame,
		::ros::Duration	timeout = `{0, 0}`
	)		const

inline

Transform an input into the target frame and convert to a specified output type. It is templated on two types: the type of the input object and the type of the transformed output. For example, the template types could be Transform, Pose, Vector, or Quaternion messages type (as defined in geometry_msgs). The function will calculate the transformation and then convert the result into the specified output type. Compilation will fail if a known conversion does not exist bewteen the two template parameters.

Template Parameters

A	The type of the object to transform.
B	The type of the transformed output.

Parameters

[in]	in	The object to transform
[out]	out	The transformed output, converted to the specified type.
[in]	target_frame	The string identifer for the frame to transform into.
[in]	timeout	How long to wait for the target frame. Default value is zero (no blocking).

Returns: The transformed output, converted to the specified type.

Definition at line 200 of file interruptible_buffer.h.

◆ transform() [2/6]

template<class A , class B >

B& cras::InterruptibleTFBuffer::transform	(	const A &	in,
		B &	out,
		const ::std::string &	target_frame,
		const ::ros::Time &	target_time,
		const ::std::string &	fixed_frame,
		::ros::Duration	timeout = `{0, 0}`
	)		const

inline

Transform an input into the target frame and convert to a specified output type (advanced). It is templated on two types: the type of the input object and the type of the transformed output. For example, the template type could be a Transform, Pose, Vector, or Quaternion message type (as defined in geometry_msgs). The function will calculate the transformation and then convert the result into the specified output type. Compilation will fail if a known conversion does not exist bewteen the two template parameters. This function follows the advanced API, which allows transforming between different time points, and specifying a fixed frame that does not varying in time.

Template Parameters

A	The type of the object to transform.
B	The type of the transformed output.

Parameters

[in]	in	The object to transform
[in]	out	The transformed output, converted to the specified output type.
[in]	target_frame	The string identifer for the frame to transform into.
[in]	target_time	The time into which to transform
[in]	fixed_frame	The frame in which to treat the transform as constant in time.
[in]	timeout	How long to wait for the target frame. Default value is zero (no blocking).

Returns: The transformed output, converted to the specified output type.

Definition at line 272 of file interruptible_buffer.h.

◆ transform() [3/6]

template<class T >

T cras::InterruptibleTFBuffer::transform	(	const T &	in,
		const ::std::string &	target_frame,
		::ros::Duration	timeout = `{0, 0}`
	)		const

inline

Transform an input into the target frame. This function is templated and can take as input any valid mathematical object that tf knows how to apply a transform to, by way of the templated math conversions interface. For example, the template type could be a Transform, Pose, Vector, or Quaternion message type (as defined in geometry_msgs).

Template Parameters

T	The type of the object to transform.

Parameters

[in]	in	The object to transform.
[in]	target_frame	The string identifer for the frame to transform into.
[in]	timeout	How long to wait for the target frame. Default value is zero (no blocking).

Returns: The transformed output.

Definition at line 176 of file interruptible_buffer.h.

◆ transform() [4/6]

template<class T >

T cras::InterruptibleTFBuffer::transform	(	const T &	in,
		const ::std::string &	target_frame,
		const ::ros::Time &	target_time,
		const ::std::string &	fixed_frame,
		::ros::Duration	timeout = `{0, 0}`
	)		const

inline

Transform an input into the target frame (advanced). This function is templated and can take as input any valid mathematical object that tf knows how to apply a transform to, by way of the templated math conversions interface. For example, the template type could be a Transform, Pose, Vector, or Quaternion message type (as defined in geometry_msgs). This function follows the advanced API, which allows transforming between different time points, and specifying a fixed frame that does not varying in time.

Template Parameters

T	The type of the object to transform.

Parameters

[in]	in	The object to transform
[in]	target_frame	The string identifer for the frame to transform into.
[in]	target_time	The time into which to transform
[in]	fixed_frame	The frame in which to treat the transform as constant in time.
[in]	timeout	How long to wait for the target frame. Default value is zero (no blocking).

Returns: The transformed output.

Definition at line 244 of file interruptible_buffer.h.

◆ transform() [5/6]

template<class T >

T& cras::InterruptibleTFBuffer::transform	(	const T &	in,
		T &	out,
		const ::std::string &	target_frame,
		::ros::Duration	timeout = `{0, 0}`
	)		const

inline

Transform an input into the target frame. This function is templated and can take as input any valid mathematical object that tf knows how to apply a transform to, by way of the templated math conversions interface. For example, the template type could be a Transform, Pose, Vector, or Quaternion message type (as defined in geometry_msgs).

Template Parameters

T	The type of the object to transform.

Parameters

[in]	in	The object to transform
[out]	out	The transformed output, preallocated by the caller.
[in]	target_frame	The string identifer for the frame to transform into.
[in]	timeout	How long to wait for the target frame. Default value is zero (no blocking).

Definition at line 159 of file interruptible_buffer.h.

◆ transform() [6/6]

template<class T >

T& cras::InterruptibleTFBuffer::transform	(	const T &	in,
		T &	out,
		const ::std::string &	target_frame,
		const ::ros::Time &	target_time,
		const ::std::string &	fixed_frame,
		::ros::Duration	timeout = `{0, 0}`
	)		const

inline

Transform an input into the target frame (advanced). This function is templated and can take as input any valid mathematical object that tf knows how to apply a transform to, by way of the templated math conversions interface. For example, the template type could be a Transform, Pose, Vector, or Quaternion message type (as defined in geometry_msgs). This function follows the advanced API, which allows transforming between different time points, and specifying a fixed frame that does not varying in time.

Template Parameters

T	The type of the object to transform.

Parameters

[in]	in	The object to transform
[out]	out	The transformed output, preallocated by the caller.
[in]	target_frame	The string identifer for the frame to transform into.
[in]	target_time	The time into which to transform
[in]	fixed_frame	The frame in which to treat the transform as constant in time.
[in]	timeout	How long to wait for the target frame. Default value is zero (no blocking).

Definition at line 221 of file interruptible_buffer.h.

Member Data Documentation

◆ callbackSemaphore

mutable ::cras::ReverseSemaphore cras::InterruptibleTFBuffer::callbackSemaphore

private

Reverse semaphore guarding that the object is not destroyed before all pending callbacks finish. At the start of each callback, the semaphore is increased, and at the end of the callback, it is decreased. The destructor of this class will block until the semaphore reaches zero.

Definition at line 389 of file interruptible_buffer.h.

◆ canTransformPollingScale

double cras::InterruptibleTFBuffer::canTransformPollingScale {0.01}

protected

canTransform() timeout is multiplied by this scale and polling for the transform is done in these time steps.

Definition at line 373 of file interruptible_buffer.h.

◆ interruptibleParentBuffer

const ::std::shared_ptr<::cras::InterruptibleTFBuffer> cras::InterruptibleTFBuffer::interruptibleParentBuffer {nullptr}

private

If parentBuffer is set and it is an InterruptibleTFBuffer, its dynamic cast to this type is stored here.

Definition at line 384 of file interruptible_buffer.h.

◆ isOk

bool cras::InterruptibleTFBuffer::isOk {true}

private

True until requestStop() is called.

Definition at line 381 of file interruptible_buffer.h.

◆ minPollingDuration

::ros::Duration cras::InterruptibleTFBuffer::minPollingDuration {0, 1000000}

protected

Minimum duration of a pause between two transform polls. If timeout * canTransformPollingScale would be smaller than this value, this value will be used instead to prevent too frequent queries.

Definition at line 377 of file interruptible_buffer.h.

◆ parentBuffer

const ::std::shared_ptr<::tf2::BufferCore> cras::InterruptibleTFBuffer::parentBuffer {nullptr}

protected

If not null, this class relays all lookups to parentBuffer.

Definition at line 369 of file interruptible_buffer.h.

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

interruptible_buffer.h

Public Member Functions

Protected Attributes

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ InterruptibleTFBuffer() [1/2]

◆ InterruptibleTFBuffer() [2/2]

◆ ~InterruptibleTFBuffer()

Member Function Documentation

◆ allFramesAsString()

◆ allFramesAsYAML() [1/2]

◆ allFramesAsYAML() [2/2]

◆ canTransform() [1/6]

◆ canTransform() [2/6]

◆ canTransform() [3/6]

◆ canTransform() [4/6]

◆ canTransform() [5/6]

◆ canTransform() [6/6]

◆ clear()

◆ getCacheLength()

◆ getRawBuffer() [1/2]

◆ getRawBuffer() [2/2]

◆ lookupTransform() [1/4]

◆ lookupTransform() [2/4]

◆ lookupTransform() [3/4]

◆ lookupTransform() [4/4]

◆ ok()

◆ requestStop()

◆ setCanTransformPollingScale()

◆ setMinPollingDuration()

◆ setTransform()

◆ transform() [1/6]

◆ transform() [2/6]

◆ transform() [3/6]

◆ transform() [4/6]

◆ transform() [5/6]

◆ transform() [6/6]

Member Data Documentation

◆ callbackSemaphore

◆ canTransformPollingScale

◆ interruptibleParentBuffer

◆ isOk

◆ minPollingDuration

◆ parentBuffer