Class CbWaitTransform

• Defined in File cb_wait_transform.hpp

Inheritance Relationships

Base Type

• public smacc2::SmaccAsyncClientBehavior

Class Documentation

class CbWaitTransform : public smacc2::SmaccAsyncClientBehavior

Public Functions

CbWaitTransform(std::string targetFrame, std::string referenceFrame, rclcpp::Duration timeout)

virtual ~CbWaitTransform()

template<typename TOrthogonal, typename TSourceObject>
inline void onOrthogonalAllocation()

void onEntry() override

Protected Attributes

std::shared_ptr<tf2_ros::Buffer> tfBuffer_

std::shared_ptr<tf2_ros::TransformListener> tfListener_

std::string targetFrame_

std::string referenceFrame_

rclcpp::Duration timeout_

std::optional<tf2::Stamped<tf2::Transform>> result_