Class TransformSource

• Defined in File transform_collection.h

Inheritance Relationships

Derived Types

• public warehouse_ros::LiveTransformSource (Class LiveTransformSource)

• public warehouse_ros::TransformCollection (Class TransformCollection)

Class Documentation

class TransformSource

This abstract base class just makes it easier to write code that works for both TransformCollection and regular tf TransformListener objects

Subclassed by warehouse_ros::LiveTransformSource, warehouse_ros::TransformCollection

Public Functions

virtual geometry_msgs::msg::TransformStamped lookupTransform(const std::string &target_frame, const std::string &source_frame, double t) const = 0

Get the transform between two frames at a given timepoint. Can throw all the usual tf exceptions if the transform is unavailable.