tf2_ros::TransformListener Class Reference

This class provides an easy way to request and receive coordinate frame transform information. More...

#include <transform_listener.h>

Public Member Functions
	TransformListener (tf2::BufferCore &buffer, bool spin_thread=true)
	Constructor for transform listener. More...
	TransformListener (tf2::BufferCore &buffer, const ros::NodeHandle &nh, bool spin_thread=true)
	~TransformListener ()

Private Member Functions
void	dedicatedListenerThread ()
void	init ()
	Initialize this transform listener, subscribing, advertising services, etc. More...
void	initWithThread ()
void	static_subscription_callback (const ros::MessageEvent< tf2_msgs::TFMessage const > &msg_evt)
void	subscription_callback (const ros::MessageEvent< tf2_msgs::TFMessage const > &msg_evt)
	Callback function for ros message subscription. More...
void	subscription_callback_impl (const ros::MessageEvent< tf2_msgs::TFMessage const > &msg_evt, bool is_static)

Private Attributes
tf2::BufferCore &	buffer_
boost::thread *	dedicated_listener_thread_
ros::Time	last_update_
ros::Subscriber	message_subscriber_tf_
ros::Subscriber	message_subscriber_tf_static_
ros::NodeHandle	node_
ros::CallbackQueue	tf_message_callback_queue_
bool	using_dedicated_thread_

Detailed Description

This class provides an easy way to request and receive coordinate frame transform information.

Definition at line 48 of file transform_listener.h.

Constructor & Destructor Documentation

TransformListener() [1/2]

TransformListener::TransformListener	(	tf2::BufferCore &	buffer,
		bool	spin_thread = true
	)

Constructor for transform listener.

Definition at line 38 of file transform_listener.cpp.

TransformListener() [2/2]

TransformListener::TransformListener	(	tf2::BufferCore &	buffer,
		const ros::NodeHandle &	nh,
		bool	spin_thread = true
	)

Definition at line 47 of file transform_listener.cpp.

~TransformListener()

TransformListener::~TransformListener

(

)

Definition at line 60 of file transform_listener.cpp.

Member Function Documentation

dedicatedListenerThread()

void tf2_ros::TransformListener::dedicatedListenerThread ( )

inlineprivate

Definition at line 78 of file transform_listener.h.

init()

void TransformListener::init ( )

private

Initialize this transform listener, subscribing, advertising services, etc.

Todo:

magic number

Todo:

magic number

Definition at line 70 of file transform_listener.cpp.

initWithThread()

void TransformListener::initWithThread ( )

private

Todo:

magic number

Todo:

magic number

Definition at line 76 of file transform_listener.cpp.

static_subscription_callback()

void TransformListener::static_subscription_callback ( const ros::MessageEvent< tf2_msgs::TFMessage const > &  msg_evt )

private

Definition at line 97 of file transform_listener.cpp.

subscription_callback()

void TransformListener::subscription_callback ( const ros::MessageEvent< tf2_msgs::TFMessage const > &  msg_evt )

private

Callback function for ros message subscription.

Definition at line 93 of file transform_listener.cpp.

subscription_callback_impl()

void TransformListener::subscription_callback_impl ( const ros::MessageEvent< tf2_msgs::TFMessage const > &  msg_evt, bool  is_static  )

private

Todo:

Use error reporting

Definition at line 102 of file transform_listener.cpp.

Member Data Documentation

buffer_

tf2::BufferCore& tf2_ros::TransformListener::buffer_

private

Definition at line 74 of file transform_listener.h.

dedicated_listener_thread_

boost::thread* tf2_ros::TransformListener::dedicated_listener_thread_

private

Definition at line 70 of file transform_listener.h.

last_update_

ros::Time tf2_ros::TransformListener::last_update_

private

Definition at line 76 of file transform_listener.h.

message_subscriber_tf_

ros::Subscriber tf2_ros::TransformListener::message_subscriber_tf_

private

Definition at line 72 of file transform_listener.h.

message_subscriber_tf_static_

ros::Subscriber tf2_ros::TransformListener::message_subscriber_tf_static_

private

Definition at line 73 of file transform_listener.h.

node_

ros::NodeHandle tf2_ros::TransformListener::node_

private

Definition at line 71 of file transform_listener.h.

tf_message_callback_queue_

ros::CallbackQueue tf2_ros::TransformListener::tf_message_callback_queue_

private

Definition at line 69 of file transform_listener.h.

using_dedicated_thread_

bool tf2_ros::TransformListener::using_dedicated_thread_

private

Definition at line 75 of file transform_listener.h.

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

• transform_listener.h
• transform_listener.cpp