tf2::BufferCoreInterface Class Reference

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

#include <buffer_core_interface.hpp>

Inheritance diagram for tf2::BufferCoreInterface:

Public Member 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.
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.
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.
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.
virtual std::vector< std::string >	getAllFrameNames () const =0
	Get all frames that exist in the system.

Detailed Description

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.

Constructor & Destructor Documentation

~BufferCoreInterface()

virtual tf2::BufferCoreInterface::~BufferCoreInterface ( )

virtualdefault

Member Function Documentation

clear()

virtual void tf2::BufferCoreInterface::clear ( )

pure virtual

Clear internal state data.

Implemented in tf2::BufferCore.

lookupTransform() [1/2]

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

pure virtual

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.

Implemented in tf2::BufferCore.

lookupTransform() [2/2]

virtual geometry_msgs::msg::TransformStamped tf2::BufferCoreInterface::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

pure virtual

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.

Implemented in tf2::BufferCore.

canTransform() [1/2]

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

pure virtual

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.

Implemented in tf2::BufferCore.

canTransform() [2/2]

virtual bool tf2::BufferCoreInterface::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

pure virtual

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.

Implemented in tf2::BufferCore.

getAllFrameNames()

virtual std::vector< std::string > tf2::BufferCoreInterface::getAllFrameNames ( ) const

pure virtual

Get all frames that exist in the system.

Returns

all frame names in a vector.

Implemented in tf2::BufferCore.

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

• include/tf2/buffer_core_interface.hpp