Class BufferCoreInterface

• Defined in File buffer_core_interface.hpp

Inheritance Relationships

Derived Type

• public tf2::BufferCore (Class BufferCore)

Class Documentation

class BufferCoreInterface

Interface for providing coordinate transforms between any two frames in a system.

This class provides a simple abstract interface for looking up relationships between arbitrary frames of a system.

Subclassed by tf2::BufferCore

Public Functions

virtual ~BufferCoreInterface() = default

virtual void clear() = 0

Clear internal state data.

virtual geometry_msgs::msg::TransformStamped lookupTransform(const std::string &target_frame, const std::string &source_frame, const tf2::TimePoint &time) const = 0

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).

Returns:

The transform between the frames.

virtual geometry_msgs::msg::TransformStamped lookupTransform(const std::string &target_frame, const tf2::TimePoint &target_time, const std::string &source_frame, const tf2::TimePoint &source_time, const std::string &fixed_frame) const = 0

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.

Returns:

The transform between the frames.

virtual bool canTransform(const std::string &target_frame, const std::string &source_frame, const tf2::TimePoint &time, std::string *error_msg) const = 0

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. Ignored if nullptr.

Returns:

true if the transform is possible, false otherwise.

virtual bool canTransform(const std::string &target_frame, const tf2::TimePoint &target_time, const std::string &source_frame, const tf2::TimePoint &source_time, const std::string &fixed_frame, std::string *error_msg) const = 0

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. Ignored if nullptr.

Returns:

true if the transform is possible, false otherwise.

virtual std::vector<std::string> getAllFrameNames() const = 0

Get all frames that exist in the system.

Returns:

all frame names in a vector.