A Class which provides coordinate transforms between any two frames in a system. More...

#include <tf.h>

Inheritance diagram for tf::Transformer:

Public Member Functions
boost::signals2::connection	addTransformsChangedListener (boost::function< void(void)> callback)
	Add a callback that happens when a new transform has arrived. More...

std::string	allFramesAsDot (double current_time=0) const
	A way to see what frames have been cached Useful for debugging. More...

std::string	allFramesAsString () const
	A way to see what frames have been cached Useful for debugging. 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, std::string *error_msg=NULL) const
	Test if a transform is possible. More...

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

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
	Debugging function that will print the spanning chain of transforms. Possible exceptions tf::LookupException, tf::ConnectivityException, tf::MaxDepthException. More...

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

bool	frameExists (const std::string &frame_id_str) const
	Check if a frame exists in the tree. More...

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

void	getFrameStrings (std::vector< std::string > &ids) const
	A way to get a std::vector of available frame ids. More...

int	getLatestCommonTime (const std::string &source_frame, const std::string &target_frame, ros::Time &time, std::string *error_string) const
	Return the latest rostime which is common across the spanning set zero if fails to cross. More...

bool	getParent (const std::string &frame_id, ros::Time time, std::string &parent) const
	Fill the parent of a frame. More...

std::shared_ptr< tf2_ros::Buffer >	getTF2BufferPtr ()

std::string	getTFPrefix () const
	Get the tf_prefix this is running with. More...

bool	isUsingDedicatedThread ()

void	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, StampedTransform &transform) const
	Get the transform between two frames by frame ID assuming fixed frame. More...

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

void	lookupTwist (const std::string &tracking_frame, const std::string &observation_frame, const ros::Time &time, const ros::Duration &averaging_interval, geometry_msgs::Twist &twist) const
	lookup the twist of the tracking frame with respect to the observational frame More...

void	lookupTwist (const std::string &tracking_frame, const std::string &observation_frame, const std::string &reference_frame, const tf::Point &reference_point, const std::string &reference_point_frame, const ros::Time &time, const ros::Duration &averaging_interval, geometry_msgs::Twist &twist) const
	Lookup the twist of the tracking_frame with respect to the observation frame in the reference_frame using the reference point. More...

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

void	setExtrapolationLimit (const ros::Duration &distance)
	Set the distance which tf is allow to extrapolate. More...

bool	setTransform (const StampedTransform &transform, const std::string &authority="default_authority")
	Add transform information to the tf data structure. More...

void	setUsingDedicatedThread (bool value)

	Transformer (bool interpolating=true, ros::Duration cache_time_=ros::Duration(DEFAULT_CACHE_TIME))

void	transformPoint (const std::string &target_frame, const ros::Time &target_time, const Stamped< tf::Point > &stamped_in, const std::string &fixed_frame, Stamped< tf::Point > &stamped_out) const
	Transform a Stamped Point into the target frame This can throw anything a lookupTransform can throw as well as tf::InvalidArgument. More...

void	transformPoint (const std::string &target_frame, const Stamped< tf::Point > &stamped_in, Stamped< tf::Point > &stamped_out) const
	Transform a Stamped Point into the target frame This can throw anything a lookupTransform can throw as well as tf::InvalidArgument. More...

void	transformPose (const std::string &target_frame, const ros::Time &target_time, const Stamped< tf::Pose > &stamped_in, const std::string &fixed_frame, Stamped< tf::Pose > &stamped_out) const
	Transform a Stamped Pose into the target frame This can throw anything a lookupTransform can throw as well as tf::InvalidArgument. More...

void	transformPose (const std::string &target_frame, const Stamped< tf::Pose > &stamped_in, Stamped< tf::Pose > &stamped_out) const
	Transform a Stamped Pose into the target frame This can throw anything a lookupTransform can throw as well as tf::InvalidArgument. More...

void	transformQuaternion (const std::string &target_frame, const ros::Time &target_time, const Stamped< tf::Quaternion > &stamped_in, const std::string &fixed_frame, Stamped< tf::Quaternion > &stamped_out) const
	Transform a Stamped Quaternion into the target frame This can throw anything a lookupTransform can throw as well as tf::InvalidArgument. More...

void	transformQuaternion (const std::string &target_frame, const Stamped< tf::Quaternion > &stamped_in, Stamped< tf::Quaternion > &stamped_out) const
	Transform a Stamped Quaternion into the target frame This can throw anything a lookupTransform can throw as well as tf::InvalidArgument. More...

void	transformVector (const std::string &target_frame, const ros::Time &target_time, const Stamped< tf::Vector3 > &stamped_in, const std::string &fixed_frame, Stamped< tf::Vector3 > &stamped_out) const
	Transform a Stamped Vector3 into the target frame This can throw anything a lookupTransform can throw as well as tf::InvalidArgument. More...

void	transformVector (const std::string &target_frame, const Stamped< tf::Vector3 > &stamped_in, Stamped< tf::Vector3 > &stamped_out) const
	Transform a Stamped Vector3 into the target frame This can throw anything a lookupTransform can throw as well as tf::InvalidArgument. More...

bool	waitForTransform (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 ros::Duration &polling_sleep_duration=ros::Duration(0.01), std::string *error_msg=NULL) const
	Block until a transform is possible or it times out. More...

bool	waitForTransform (const std::string &target_frame, const std::string &source_frame, const ros::Time &time, const ros::Duration &timeout, const ros::Duration &polling_sleep_duration=ros::Duration(0.01), std::string *error_msg=NULL) const
	Block until a transform is possible or it times out. More...

virtual	~Transformer (void)

Public Attributes
bool	fall_back_to_wall_time_

Static Public Attributes
static const double	DEFAULT_CACHE_TIME = 10.0
	10.0 is the default amount of time to cache data in seconds, set in cpp file. More...

static const int64_t	DEFAULT_MAX_EXTRAPOLATION_DISTANCE = 0ULL
	The default amount of time to extrapolate //deprecated since integration with tf2. More...

static const unsigned int	MAX_GRAPH_DEPTH = 100UL
	The maximum number of time to recurse before assuming the tree has a loop. More...

Protected Member Functions
ros::Time	now () const

virtual bool	ok () const

Protected Attributes
std::shared_ptr< tf2_ros::Buffer >	tf2_buffer_ptr_

std::string	tf_prefix_
	The internal storage class for ReferenceTransform. More...

Detailed Description

A Class which provides coordinate transforms between any two frames in a system.

This class provides a simple interface to allow recording and lookup of relationships between arbitrary frames of the system.

libTF assumes that there is a tree of coordinate frame transforms which define the relationship between all coordinate frames. For example your typical robot would have a transform from global to real world. And then from base to hand, and from base to head. But Base to Hand really is composed of base to shoulder to elbow to wrist to hand. libTF is designed to take care of all the intermediate steps for you.

Internal Representation libTF will store frames with the parameters necessary for generating the transform into that frame from it's parent and a reference to the parent frame. Frames are designated using an std::string 0 is a frame without a parent (the top of a tree) The positions of frames over time must be pushed in.

All function calls which pass frame ids can potentially throw the exception tf::LookupException

Definition at line 103 of file tf.h.

Constructor & Destructor Documentation

◆ Transformer()

Transformer::Transformer	(	bool	interpolating = `true`,
		ros::Duration	cache_time_ = `ros::Duration(DEFAULT_CACHE_TIME)`
	)

Constructor

Parameters

interpolating	Unused, legacy always true
cache_time	How long to keep a history of transforms in nanoseconds

Definition at line 209 of file tf.cpp.

◆ ~Transformer()

Transformer::~Transformer ( void )

virtual

Definition at line 217 of file tf.cpp.

Member Function Documentation

◆ addTransformsChangedListener()

boost::signals2::connection Transformer::addTransformsChangedListener ( boost::function< void(void)> callback )

Add a callback that happens when a new transform has arrived.

Parameters

callback The callback, of the form void func();

Returns: A boost::signals2::connection object that can be used to remove this listener

Definition at line 573 of file tf.cpp.

◆ allFramesAsDot()

std::string Transformer::allFramesAsDot ( double current_time = 0 ) const

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

Definition at line 439 of file tf.cpp.

◆ allFramesAsString()

std::string Transformer::allFramesAsString ( ) const

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

Definition at line 434 of file tf.cpp.

◆ canTransform() [1/2]

bool Transformer::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

Test if a transform is possible.

Parameters

target_frame	The frame into which to transform
target_time	The time into which to transform
source_frame	The frame from which to transform
source_time	The time from which to transform
fixed_frame	The frame in which to treat the transform as constant in time
error_msg	A pointer to a string which will be filled with why the transform failed, if not NULL

Definition at line 366 of file tf.cpp.

◆ canTransform() [2/2]

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

Test if a transform is possible.

Parameters

target_frame	The frame into which to transform
source_frame	The frame from which to transform
time	The time at which to transform
error_msg	A pointer to a string which will be filled with why the transform failed, if not NULL

Definition at line 358 of file tf.cpp.

◆ chainAsVector()

void Transformer::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

Debugging function that will print the spanning chain of transforms. Possible exceptions tf::LookupException, tf::ConnectivityException, tf::MaxDepthException.

Debugging function that will print the spanning chain of transforms. Possible exceptions tf::LookupException, tf::ConnectivityException, tf::MaxDepthException

Definition at line 427 of file tf.cpp.

◆ clear()

void Transformer::clear ( )

Clear all data.

Definition at line 223 of file tf.cpp.

◆ frameExists()

bool Transformer::frameExists ( const std::string & frame_id_str ) const

Check if a frame exists in the tree.

Parameters

frame_id_str The frame id in question

Definition at line 392 of file tf.cpp.

◆ getCacheLength()

ros::Duration tf::Transformer::getCacheLength ( )

inline

Get the duration over which this transformer will cache.

Definition at line 331 of file tf.h.

◆ getFrameStrings()

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

A way to get a std::vector of available frame ids.

Definition at line 447 of file tf.cpp.

◆ getLatestCommonTime()

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

Return the latest rostime which is common across the spanning set zero if fails to cross.

Definition at line 417 of file tf.cpp.

◆ getParent()

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

Fill the parent of a frame.

Parameters

frame_id	The frame id of the frame in question
parent	The reference to the string to fill the parent Returns true unless "NO_PARENT"

Definition at line 386 of file tf.cpp.

◆ getTF2BufferPtr()

std::shared_ptr<tf2_ros::Buffer> tf::Transformer::getTF2BufferPtr ( )

inline

Definition at line 354 of file tf.h.

◆ getTFPrefix()

std::string tf::Transformer::getTFPrefix ( ) const

inline

Get the tf_prefix this is running with.

Definition at line 346 of file tf.h.

◆ isUsingDedicatedThread()

bool tf::Transformer::isUsingDedicatedThread ( )

inline

Definition at line 351 of file tf.h.

◆ lookupTransform() [1/2]

void Transformer::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,
		StampedTransform &	transform
	)		const

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

Parameters

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

Possible exceptions tf::LookupException, tf::ConnectivityException, tf::MaxDepthException, tf::ExtrapolationException

Definition at line 249 of file tf.cpp.

◆ lookupTransform() [2/2]

void Transformer::lookupTransform	(	const std::string &	target_frame,
		const std::string &	source_frame,
		const ros::Time &	time,
		StampedTransform &	transform
	)		const

Get the transform between two frames by frame ID.

Parameters

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

Possible exceptions tf::LookupException, tf::ConnectivityException, tf::MaxDepthException, tf::ExtrapolationException

Definition at line 238 of file tf.cpp.

◆ lookupTwist() [1/2]

void Transformer::lookupTwist	(	const std::string &	tracking_frame,
		const std::string &	observation_frame,
		const ros::Time &	time,
		const ros::Duration &	averaging_interval,
		geometry_msgs::Twist &	twist
	)		const

lookup the twist of the tracking frame with respect to the observational frame

This is a simplified version of lookupTwist with it assumed that the reference point is the origin of the tracking frame, and the reference frame is the observation frame.

New in geometry 1.1

Definition at line 260 of file tf.cpp.

◆ lookupTwist() [2/2]

void Transformer::lookupTwist	(	const std::string &	tracking_frame,
		const std::string &	observation_frame,
		const std::string &	reference_frame,
		const tf::Point &	reference_point,
		const std::string &	reference_point_frame,
		const ros::Time &	time,
		const ros::Duration &	averaging_interval,
		geometry_msgs::Twist &	twist
	)		const

Lookup the twist of the tracking_frame with respect to the observation frame in the reference_frame using the reference point.

Parameters

tracking_frame	The frame to track
observation_frame	The frame from which to measure the twist
reference_frame	The reference frame in which to express the twist
reference_point	The reference point with which to express the twist
reference_point_frame	The frame_id in which the reference point is expressed
time	The time at which to get the velocity
duration	The period over which to average
twist	The twist output

This will compute the average velocity on the interval (time - duration/2, time+duration/2). If that is too close to the most recent reading, in which case it will shift the interval up to duration/2 to prevent extrapolation. Possible exceptions tf::LookupException, tf::ConnectivityException, tf::MaxDepthException, tf::ExtrapolationException

New in geometry 1.1

\TODO check time on reference point too

Definition at line 270 of file tf.cpp.

◆ now()

ros::Time tf::Transformer::now ( ) const

inlineprotected

Hack method to work around #4150

Definition at line 384 of file tf.h.

◆ ok()

bool Transformer::ok ( ) const

protectedvirtual

Reimplemented in tf::TransformListener.

Definition at line 445 of file tf.cpp.

◆ removeTransformsChangedListener()

void Transformer::removeTransformsChangedListener ( boost::signals2::connection c )

Definition at line 578 of file tf.cpp.

◆ setExtrapolationLimit()

void Transformer::setExtrapolationLimit ( const ros::Duration & distance )

Set the distance which tf is allow to extrapolate.

Parameters

distance How far to extrapolate before throwing an exception default is zero

Definition at line 397 of file tf.cpp.

◆ setTransform()

bool Transformer::setTransform	(	const StampedTransform &	transform,
		const std::string &	authority = `"default_authority"`
	)

Add transform information to the tf data structure.

Parameters

transform	The transform to store
authority	The source of the information for this transform returns true unless an error occured

Definition at line 229 of file tf.cpp.

◆ setUsingDedicatedThread()

void tf::Transformer::setUsingDedicatedThread ( bool value )

inline

Definition at line 349 of file tf.h.

◆ transformPoint() [1/2]

void Transformer::transformPoint	(	const std::string &	target_frame,
		const ros::Time &	target_time,
		const Stamped< tf::Point > &	stamped_in,
		const std::string &	fixed_frame,
		Stamped< tf::Point > &	stamped_out
	)		const

Transform a Stamped Point into the target frame This can throw anything a lookupTransform can throw as well as tf::InvalidArgument.

Definition at line 543 of file tf.cpp.

◆ transformPoint() [2/2]

void Transformer::transformPoint	(	const std::string &	target_frame,
		const Stamped< tf::Point > &	stamped_in,
		Stamped< tf::Point > &	stamped_out
	)		const

Transform a Stamped Point into the target frame This can throw anything a lookupTransform can throw as well as tf::InvalidArgument.

Definition at line 484 of file tf.cpp.

◆ transformPose() [1/2]

void Transformer::transformPose	(	const std::string &	target_frame,
		const ros::Time &	target_time,
		const Stamped< tf::Pose > &	stamped_in,
		const std::string &	fixed_frame,
		Stamped< tf::Pose > &	stamped_out
	)		const

Transform a Stamped Pose into the target frame This can throw anything a lookupTransform can throw as well as tf::InvalidArgument.

Definition at line 558 of file tf.cpp.

◆ transformPose() [2/2]

void Transformer::transformPose	(	const std::string &	target_frame,
		const Stamped< tf::Pose > &	stamped_in,
		Stamped< tf::Pose > &	stamped_out
	)		const

Transform a Stamped Pose into the target frame This can throw anything a lookupTransform can throw as well as tf::InvalidArgument.

Definition at line 494 of file tf.cpp.

◆ transformQuaternion() [1/2]

void Transformer::transformQuaternion	(	const std::string &	target_frame,
		const ros::Time &	target_time,
		const Stamped< tf::Quaternion > &	stamped_in,
		const std::string &	fixed_frame,
		Stamped< tf::Quaternion > &	stamped_out
	)		const

Transform a Stamped Quaternion into the target frame This can throw anything a lookupTransform can throw as well as tf::InvalidArgument.

Definition at line 505 of file tf.cpp.

◆ transformQuaternion() [2/2]

void Transformer::transformQuaternion	(	const std::string &	target_frame,
		const Stamped< tf::Quaternion > &	stamped_in,
		Stamped< tf::Quaternion > &	stamped_out
	)		const

Transform a Stamped Quaternion into the target frame This can throw anything a lookupTransform can throw as well as tf::InvalidArgument.

Definition at line 453 of file tf.cpp.

◆ transformVector() [1/2]

void tf::Transformer::transformVector	(	const std::string &	target_frame,
		const ros::Time &	target_time,
		const Stamped< tf::Vector3 > &	stamped_in,
		const std::string &	fixed_frame,
		Stamped< tf::Vector3 > &	stamped_out
	)		const

Transform a Stamped Vector3 into the target frame This can throw anything a lookupTransform can throw as well as tf::InvalidArgument.

◆ transformVector() [2/2]

void Transformer::transformVector	(	const std::string &	target_frame,
		const Stamped< tf::Vector3 > &	stamped_in,
		Stamped< tf::Vector3 > &	stamped_out
	)		const

Transform a Stamped Vector3 into the target frame This can throw anything a lookupTransform can throw as well as tf::InvalidArgument.

Todo:: may not be most efficient

Definition at line 466 of file tf.cpp.

◆ waitForTransform() [1/2]

bool Transformer::waitForTransform	(	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 ros::Duration &	polling_sleep_duration = `ros::Duration(0.01)`,
		std::string *	error_msg = `NULL`
	)		const

Block until a transform is possible or it times out.

Parameters

target_frame	The frame into which to transform
target_time	The time into which to transform
source_frame	The frame from which to transform
source_time	The time from which to transform
fixed_frame	The frame in which to treat the transform as constant in time
timeout	How long to block before failing
polling_sleep_duration	How often to retest if failed
error_msg	A pointer to a string which will be filled with why the transform failed, if not NULL

Definition at line 375 of file tf.cpp.

◆ waitForTransform() [2/2]

bool Transformer::waitForTransform	(	const std::string &	target_frame,
		const std::string &	source_frame,
		const ros::Time &	time,
		const ros::Duration &	timeout,
		const ros::Duration &	polling_sleep_duration = `ros::Duration(0.01)`,
		std::string *	error_msg = `NULL`
	)		const

Block until a transform is possible or it times out.

Parameters

target_frame	The frame into which to transform
source_frame	The frame from which to transform
time	The time at which to transform
timeout	How long to block before failing
polling_sleep_duration	How often to retest if failed
error_msg	A pointer to a string which will be filled with why the transform failed, if not NULL

Definition at line 348 of file tf.cpp.

Member Data Documentation

◆ DEFAULT_CACHE_TIME

const double tf::Transformer::DEFAULT_CACHE_TIME = 10.0

static

10.0 is the default amount of time to cache data in seconds, set in cpp file.

Definition at line 108 of file tf.h.

◆ DEFAULT_MAX_EXTRAPOLATION_DISTANCE

const int64_t tf::Transformer::DEFAULT_MAX_EXTRAPOLATION_DISTANCE = 0ULL

static

The default amount of time to extrapolate //deprecated since integration with tf2.

Definition at line 109 of file tf.h.

◆ fall_back_to_wall_time_

bool tf::Transformer::fall_back_to_wall_time_

Definition at line 380 of file tf.h.

◆ MAX_GRAPH_DEPTH

const unsigned int tf::Transformer::MAX_GRAPH_DEPTH = 100UL

static

The maximum number of time to recurse before assuming the tree has a loop.

Definition at line 107 of file tf.h.

◆ tf2_buffer_ptr_

std::shared_ptr<tf2_ros::Buffer> tf::Transformer::tf2_buffer_ptr_

protected

Definition at line 403 of file tf.h.

◆ tf_prefix_

std::string tf::Transformer::tf_prefix_

protected

The internal storage class for ReferenceTransform.

An instance of this class is created for each frame in the system. This class natively handles the relationship between frames.

The derived class Pose3DCache provides a buffered history of positions with interpolation. transform prefix to apply as necessary

Definition at line 375 of file tf.h.

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

tf.h
tf.cpp

Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Transformer()

◆ ~Transformer()

Member Function Documentation

◆ addTransformsChangedListener()

◆ allFramesAsDot()

◆ allFramesAsString()

◆ canTransform() [1/2]

◆ canTransform() [2/2]

◆ chainAsVector()

◆ clear()

◆ frameExists()

◆ getCacheLength()

◆ getFrameStrings()

◆ getLatestCommonTime()

◆ getParent()

◆ getTF2BufferPtr()

◆ getTFPrefix()

◆ isUsingDedicatedThread()

◆ lookupTransform() [1/2]

◆ lookupTransform() [2/2]

◆ lookupTwist() [1/2]

◆ lookupTwist() [2/2]

◆ now()

◆ ok()

◆ removeTransformsChangedListener()

◆ setExtrapolationLimit()

◆ setTransform()

◆ setUsingDedicatedThread()

◆ transformPoint() [1/2]

◆ transformPoint() [2/2]

◆ transformPose() [1/2]

◆ transformPose() [2/2]

◆ transformQuaternion() [1/2]

◆ transformQuaternion() [2/2]

◆ transformVector() [1/2]

◆ transformVector() [2/2]

◆ waitForTransform() [1/2]

◆ waitForTransform() [2/2]

Member Data Documentation

◆ DEFAULT_CACHE_TIME

◆ DEFAULT_MAX_EXTRAPOLATION_DISTANCE

◆ fall_back_to_wall_time_

◆ MAX_GRAPH_DEPTH

◆ tf2_buffer_ptr_

◆ tf_prefix_