Struct NodeletWithSharedTfBufferInterface

Inheritance Relationships

Derived Types

Struct Documentation

struct NodeletWithSharedTfBufferInterface

Public non-template API of NodeletWithSharedTfBuffer. Dynamic_cast a nodelet to this type if you need to access this API publicly.

Subclassed by cras::NodeletWithSharedTfBuffer< ::nodelet::Nodelet >, cras::NodeletWithSharedTfBuffer< BaseNodelet >, cras::NodeletWithSharedTfBuffer< NodeletType >

Public Functions

virtual void setBuffer(const ::std::shared_ptr<::tf2_ros::Buffer> &buffer) = 0

Set the TF buffer to be used by the nodelet. If this method is not called, a standalone buffer is created.

Parameters:

buffer – [in] The buffer to use.

virtual ::cras::NodeletAwareTFBuffer &getBuffer() const = 0

Get the TF buffer used by the nodelet. If none has been set by setBuffer(), a buffer is automatically created.

Note

This buffer only offers the timeouting versions of canTransform() and lookupTransform(). It does not offer setTransform() and many other functions. User getRawBuffer() on the returned instance to get a tf2::BufferCore that offers the missing non-time-aware functionality.

Returns:

The buffer.

virtual bool usesSharedBuffer() const = 0

Whether the buffer set using setBuffer() is used or a standalone buffer has been automatically created.

Returns:

Whether the buffer set using setBuffer() is used or a standalone buffer has been automatically created.

virtual void reset() = 0

Reset the TF buffer. If a shared buffer is used, it is not reset by this call and its owner is responsible.