tf2 Namespace Reference

Namespaces
namespace	impl

Classes
class	BackwardExtrapolationException
	An exception class to notify that the requested value would have required extrapolation in the past. More...
class	BufferCore
	A Class which provides coordinate transforms between any two frames in a system. More...
class	BufferCoreInterface
	Interface for providing coordinate transforms between any two frames in a system. More...
class	ConnectivityException
	An exception class to notify of no connection. More...
class	ExtrapolationException
	An exception class to notify that the requested value would have required extrapolation beyond current limits. More...
class	ForwardExtrapolationException
	An exception class to notify that the requested value would have required extrapolation in the future. More...
class	InvalidArgumentException
	An exception class to notify that one of the arguments is invalid. More...
class	LookupException
	An exception class to notify of bad frame number. More...
class	Matrix3x3
	The Matrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with Quaternion, Transform and Vector3. Make sure to only include a pure orthogonal matrix without scaling. More...
struct	Matrix3x3DoubleData
	for serialization More...
struct	Matrix3x3FloatData
	for serialization More...
class	NoDataForExtrapolationException
	An exception class to notify that the requested value would have required extrapolation, but only zero or one data is available, so not enough for extrapolation. More...
class	QuadWord
	The QuadWord class is base class for Vector3 and Quaternion. Some issues under PS3 Linux with IBM 2.1 SDK, gcc compiler prevent from using aligned quadword. More...
class	Quaternion
	The Quaternion implements quaternion to perform linear algebra rotations in combination with Matrix3x3, Vector3 and Transform. More...
class	Stamped
	The data type which will be cross compatable with geometry_msgs This is the tf2 datatype equivilant of a MessageStamped. More...
class	StaticCache
class	tf2Vector4
class	TimeCache
	A class to keep a sorted linked list in time (newest first, oldest last). This builds and maintains a list of timestamped data. And provides lookup functions to get data out as a function of time. More...
class	TimeCacheInterface
class	TimeoutException
	An exception class to notify that a timeout has occured. More...
class	Transform
	The Transform class supports rigid transforms with only translation and rotation and no scaling/shear. It can be used in combination with Vector3, Quaternion and Matrix3x3 linear algebra classes. More...
struct	TransformDoubleData
class	TransformException
	A base class for all tf2 exceptions This inherits from ros::exception which inherits from std::runtime_exception. More...
struct	TransformFloatData
	for serialization More...
class	TransformStorage
	Storage for transforms and their parent. More...
class	Vector3
	tf2::Vector3 can be used to represent 3D points and vectors. It has an un-used w component to suit 16-byte alignment when tf2::Vector3 is stored in containers. This extra component can be used by derived classes (Quaternion?) or by user Ideally, this class should be replaced by a platform optimized TF2SIMD version that keeps the data in registers More...
struct	Vector3DoubleData
struct	Vector3FloatData
class	WithCovarianceStamped
	The data type which will be cross compatable with geometry_msgs This is the tf2 datatype equivalent of a MessageWithCovarianceStamped. More...

Typedefs
typedef std::pair< TimePoint, CompactFrameID >	P_TimeAndFrameID
typedef uint64_t	TransformableRequestHandle
using	TimeCacheInterfacePtr = std::shared_ptr< TimeCacheInterface >
using	Duration = std::chrono::nanoseconds
using	TimePoint = std::chrono::time_point< std::chrono::system_clock, Duration >
using	IDuration = std::chrono::duration< int, std::nano >
typedef uint32_t	CompactFrameID

Enumerations
enum	TransformableResult { TransformAvailable , TransformFailure }
enum class	TF2Error : std::uint8_t {   TF2_NO_ERROR = 0 , TF2_LOOKUP_ERROR = 1 , TF2_CONNECTIVITY_ERROR = 2 , TF2_EXTRAPOLATION_ERROR = 3 ,   TF2_INVALID_ARGUMENT_ERROR = 4 , TF2_TIMEOUT_ERROR = 5 , TF2_TRANSFORM_ERROR = 6 , TF2_BACKWARD_EXTRAPOLATION_ERROR = 7 ,   TF2_FORWARD_EXTRAPOLATION_ERROR = 8 , TF2_NO_DATA_FOR_EXTRAPOLATION_ERROR = 9 }

Functions
template<class T >
void	doTransform (const T &data_in, T &data_out, const geometry_msgs::msg::TransformStamped &transform)
	The templated function expected to be able to do a transform.
template<class T >
tf2::TimePoint	getTimestamp (const T &t)
	Get the timestamp from data.
template<class T >
std::string	getFrameId (const T &t)
	Get the frame_id from data.
template<class T >
std::array< std::array< double, 6 >, 6 >	getCovarianceMatrix (const T &t)
	Get the covariance matrix from data.
template<class P >
tf2::TimePoint	getTimestamp (const tf2::Stamped< P > &t)
	Get the frame_id from data.
template<class P >
std::string	getFrameId (const tf2::Stamped< P > &t)
	Get the frame_id from data.
template<class P >
std::array< std::array< double, 6 >, 6 >	getCovarianceMatrix (const tf2::WithCovarianceStamped< P > &t)
	Get the covariance matrix from data.
template<typename A , typename B >
B	toMsg (const A &a)
	Function that converts from one type to a ROS message type. It has to be implemented by each data type in tf2_* (except ROS messages) as it is used in the "convert" function.
template<typename A , typename B >
void	fromMsg (const A &a, B &b)
	Function that converts from a ROS message type to another type. It has to be implemented by each data type in tf2_* (except ROS messages) as it is used in the "convert" function.
template<class A , class B >
void	convert (const A &a, B &b)
	Function that converts any type to any type (messages or not). Matching toMsg and from Msg conversion functions need to exist. If they don't exist or do not apply (for example, if your two classes are ROS messages), just write a specialization of the function.
template<class A >
void	convert (const A &a1, A &a2)
std::array< std::array< double, 6 >, 6 >	covarianceRowMajorToNested (const std::array< double, 36 > &row_major)
	Function that converts from a row-major representation of a 6x6 covariance matrix to a nested array representation.
std::array< double, 36 >	covarianceNestedToRowMajor (const std::array< std::array< double, 6 >, 6 > &nested_array)
	Function that converts from a nested array representation of a 6x6 covariance matrix to a row-major representation.
void	fromMsg (const geometry_msgs::msg::Quaternion &in, tf2::Quaternion &out)
Vector3	operator* (const Matrix3x3 &m, const Vector3 &v)
Vector3	operator* (const Vector3 &v, const Matrix3x3 &m)
Matrix3x3	operator* (const Matrix3x3 &m1, const Matrix3x3 &m2)
bool	operator== (const Matrix3x3 &m1, const Matrix3x3 &m2)
	Equality operator between two matrices It will test all elements are equal.
Quaternion	operator- (const Quaternion &q)
	Return the negative of a quaternion.
Quaternion	operator* (const Quaternion &q1, const Quaternion &q2)
	Return the product of two quaternions.
Quaternion	operator* (const Quaternion &q, const Vector3 &w)
Quaternion	operator* (const Vector3 &w, const Quaternion &q)
tf2Scalar	dot (const Quaternion &q1, const Quaternion &q2)
	Calculate the dot product between two quaternions.
tf2Scalar	length (const Quaternion &q)
	Return the length of a quaternion.
tf2Scalar	angle (const Quaternion &q1, const Quaternion &q2)
	Return the half angle between two quaternions.
tf2Scalar	angleShortestPath (const Quaternion &q1, const Quaternion &q2)
	Return the shortest angle between two quaternions.
Quaternion	inverse (const Quaternion &q)
	Return the inverse of a quaternion.
Quaternion	slerp (const Quaternion &q1, const Quaternion &q2, const tf2Scalar &t)
	Return the result of spherical linear interpolation betwen two quaternions.
Vector3	quatRotate (const Quaternion &rotation, const Vector3 &v)
Quaternion	shortestArcQuat (const Vector3 &v0, const Vector3 &v1)
Quaternion	shortestArcQuatNormalize2 (Vector3 &v0, Vector3 &v1)
bool	operator== (const Transform &t1, const Transform &t2)
	Test if two transforms have all elements equal.
Vector3	operator+ (const Vector3 &v1, const Vector3 &v2)
	Return the sum of two vectors (Point symantics)
Vector3	operator* (const Vector3 &v1, const Vector3 &v2)
	Return the elementwise product of two vectors.
Vector3	operator- (const Vector3 &v1, const Vector3 &v2)
	Return the difference between two vectors.
Vector3	operator- (const Vector3 &v)
	Return the negative of the vector.
Vector3	operator* (const Vector3 &v, const tf2Scalar &s)
	Return the vector scaled by s.
Vector3	operator* (const tf2Scalar &s, const Vector3 &v)
	Return the vector scaled by s.
Vector3	operator/ (const Vector3 &v, const tf2Scalar &s)
	Return the vector inversely scaled by s.
Vector3	operator/ (const Vector3 &v1, const Vector3 &v2)
	Return the vector inversely scaled by s.
tf2Scalar	tf2Dot (const Vector3 &v1, const Vector3 &v2)
	Return the dot product between two vectors.
tf2Scalar	tf2Distance2 (const Vector3 &v1, const Vector3 &v2)
	Return the distance squared between two vectors.
tf2Scalar	tf2Distance (const Vector3 &v1, const Vector3 &v2)
	Return the distance between two vectors.
tf2Scalar	tf2Angle (const Vector3 &v1, const Vector3 &v2)
	Return the angle between two vectors.
Vector3	tf2Cross (const Vector3 &v1, const Vector3 &v2)
	Return the cross product of two vectors.
tf2Scalar	tf2Triple (const Vector3 &v1, const Vector3 &v2, const Vector3 &v3)
Vector3	lerp (const Vector3 &v1, const Vector3 &v2, const tf2Scalar &t)
	Return the linear interpolation between two vectors.
void	tf2SwapScalarEndian (const tf2Scalar &sourceVal, tf2Scalar &destVal)
	tf2SwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization
void	tf2SwapVector3Endian (const Vector3 &sourceVec, Vector3 &destVec)
	tf2SwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization
void	tf2UnSwapVector3Endian (Vector3 &vector)
	tf2UnSwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization
void	tf2PlaneSpace1 (const Vector3 &n, Vector3 &p, Vector3 &q)
TimePoint	get_now ()
Duration	durationFromSec (double t_sec)
TimePoint	timeFromSec (double t_sec)
double	durationToSec (const tf2::Duration &input)
double	timeToSec (const TimePoint &timepoint)
std::string	displayTimePoint (const TimePoint &stamp)
template<typename T >
bool	operator== (const Stamped< T > &a, const Stamped< T > &b)
	Comparison Operator for Stamped datatypes.
template<typename T >
bool	operator== (const WithCovarianceStamped< T > &a, const WithCovarianceStamped< T > &b)
	Comparison operator for WithCovarianceStamped datatypes.
template<class A >
void	getEulerYPR (const A &a, double &yaw, double &pitch, double &roll)
template<class A >
double	getYaw (const A &a)
template<class A >
A	getTransformIdentity ()

Variables
constexpr tf2::Duration	TIMECACHE_DEFAULT_MAX_STORAGE_TIME = std::chrono::seconds(10)
	default value of 10 seconds storage

Typedef Documentation

P_TimeAndFrameID

typedef std::pair< tf2::TimePoint, tf2::CompactFrameID > tf2::P_TimeAndFrameID

TransformableRequestHandle

typedef uint64_t tf2::TransformableRequestHandle

TimeCacheInterfacePtr

typedef std::shared_ptr< TimeCacheInterface > tf2::TimeCacheInterfacePtr

Duration

using tf2::Duration = typedef std::chrono::nanoseconds

TimePoint

using tf2::TimePoint = typedef std::chrono::time_point<std::chrono::system_clock, Duration>

IDuration

using tf2::IDuration = typedef std::chrono::duration<int, std::nano>

CompactFrameID

typedef uint32_t tf2::CompactFrameID

Enumeration Type Documentation

TransformableResult

enum tf2::TransformableResult

Enumerator
TransformAvailable
TransformFailure

TF2Error

enum class tf2::TF2Error : std::uint8_t

strong

Enumerator
TF2_NO_ERROR
TF2_LOOKUP_ERROR
TF2_CONNECTIVITY_ERROR
TF2_EXTRAPOLATION_ERROR
TF2_INVALID_ARGUMENT_ERROR
TF2_TIMEOUT_ERROR
TF2_TRANSFORM_ERROR
TF2_BACKWARD_EXTRAPOLATION_ERROR
TF2_FORWARD_EXTRAPOLATION_ERROR
TF2_NO_DATA_FOR_EXTRAPOLATION_ERROR

Function Documentation

doTransform()

template<class T >

void tf2::doTransform	(	const T &	data_in,
		T &	data_out,
		const geometry_msgs::msg::TransformStamped &	transform
	)

The templated function expected to be able to do a transform.

This is the method which tf2 will use to try to apply a transform for any given datatype.

Parameters

[in]	data_in	The data to be transformed.
[in,out]	data_out	A reference to the output data. Note this can point to data in and the method should be mutation safe.
[in]	transform	The transform to apply to data_in to fill data_out.

This method needs to be implemented by client library developers

getTimestamp() [1/2]

template<class T >

tf2::TimePoint tf2::getTimestamp

(

const T &

t

)

Get the timestamp from data.

Parameters

[in]

t

The data input.

Returns

The timestamp associated with the data.

getFrameId() [1/2]

template<class T >

std::string tf2::getFrameId

(

const T &

t

)

Get the frame_id from data.

Parameters

[in]

t

The data input.

Returns

The frame_id associated with the data.

getCovarianceMatrix() [1/2]

template<class T >

std::array< std::array< double, 6 >, 6 > tf2::getCovarianceMatrix

(

const T &

t

)

Get the covariance matrix from data.

Parameters

[in]

t

The data input.

Returns

The covariance matrix associated with the data.

getTimestamp() [2/2]

template<class P >

tf2::TimePoint tf2::getTimestamp

(

const tf2::Stamped< P > &

t

)

Get the frame_id from data.

An implementation for Stamped

datatypes.

Parameters

[in]

t

The data input.

Returns

The frame_id associated with the data.

getFrameId() [2/2]

template<class P >

std::string tf2::getFrameId

(

const tf2::Stamped< P > &

t

)

Get the frame_id from data.

An implementation for Stamped

datatypes.

Parameters

[in]

t

The data input.

Returns

The frame_id associated with the data.

getCovarianceMatrix() [2/2]

template<class P >

std::array< std::array< double, 6 >, 6 > tf2::getCovarianceMatrix

(

const tf2::WithCovarianceStamped< P > &

t

)

Get the covariance matrix from data.

An implementation for WithCovarianceStamped

datatypes.

Parameters

[in]

t

The data input.

Returns

The covariance matrix associated with the data.

toMsg()

template<typename A , typename B >

B tf2::toMsg

(

const A &

a

)

Function that converts from one type to a ROS message type. It has to be implemented by each data type in tf2_* (except ROS messages) as it is used in the "convert" function.

Parameters

a	an object of whatever type

Returns

the conversion as a ROS message

fromMsg() [1/2]

template<typename A , typename B >

void tf2::fromMsg	(	const A &	a,
		B &	b
	)

Function that converts from a ROS message type to another type. It has to be implemented by each data type in tf2_* (except ROS messages) as it is used in the "convert" function.

Parameters

a	a ROS message to convert from
b	the object to convert to

convert() [1/2]

template<class A , class B >

void tf2::convert	(	const A &	a,
		B &	b
	)

Function that converts any type to any type (messages or not). Matching toMsg and from Msg conversion functions need to exist. If they don't exist or do not apply (for example, if your two classes are ROS messages), just write a specialization of the function.

Parameters

a	an object to convert from
b	the object to convert to

convert() [2/2]

template<class A >

void tf2::convert	(	const A &	a1,
		A &	a2
	)

covarianceRowMajorToNested()

std::array< std::array< double, 6 >, 6 > tf2::covarianceRowMajorToNested ( const std::array< double, 36 > &  row_major )

inline

Function that converts from a row-major representation of a 6x6 covariance matrix to a nested array representation.

Parameters

row_major

A row-major array of 36 covariance values.

Returns

A nested array representation of 6x6 covariance values.

covarianceNestedToRowMajor()

std::array< double, 36 > tf2::covarianceNestedToRowMajor ( const std::array< std::array< double, 6 >, 6 > &  nested_array )

inline

Function that converts from a nested array representation of a 6x6 covariance matrix to a row-major representation.

Parameters

nested_array

A nested array representation of 6x6 covariance values.

Returns

A row-major array of 36 covariance values.

fromMsg() [2/2]

void tf2::fromMsg	(	const geometry_msgs::msg::Quaternion &	in,
		tf2::Quaternion &	out
	)

operator*() [1/9]

Vector3 tf2::operator*	(	const Matrix3x3 &	m,
		const Vector3 &	v
	)

operator*() [2/9]

Vector3 tf2::operator*	(	const Vector3 &	v,
		const Matrix3x3 &	m
	)

operator*() [3/9]

Matrix3x3 tf2::operator*	(	const Matrix3x3 &	m1,
		const Matrix3x3 &	m2
	)

operator==() [1/4]

bool tf2::operator==	(	const Matrix3x3 &	m1,
		const Matrix3x3 &	m2
	)

Equality operator between two matrices It will test all elements are equal.

operator-() [1/3]

Quaternion tf2::operator-

(

const Quaternion &

q

)

Return the negative of a quaternion.

operator*() [4/9]

Quaternion tf2::operator*	(	const Quaternion &	q1,
		const Quaternion &	q2
	)

Return the product of two quaternions.

operator*() [5/9]

Quaternion tf2::operator*	(	const Quaternion &	q,
		const Vector3 &	w
	)

operator*() [6/9]

Quaternion tf2::operator*	(	const Vector3 &	w,
		const Quaternion &	q
	)

dot()

tf2Scalar tf2::dot	(	const Quaternion &	q1,
		const Quaternion &	q2
	)

Calculate the dot product between two quaternions.

length()

tf2Scalar tf2::length

(

const Quaternion &

q

)

Return the length of a quaternion.

angle()

tf2Scalar tf2::angle	(	const Quaternion &	q1,
		const Quaternion &	q2
	)

Return the half angle between two quaternions.

angleShortestPath()

tf2Scalar tf2::angleShortestPath	(	const Quaternion &	q1,
		const Quaternion &	q2
	)

Return the shortest angle between two quaternions.

inverse()

Quaternion tf2::inverse

(

const Quaternion &

q

)

Return the inverse of a quaternion.

slerp()

Quaternion tf2::slerp	(	const Quaternion &	q1,
		const Quaternion &	q2,
		const tf2Scalar &	t
	)

Return the result of spherical linear interpolation betwen two quaternions.

Parameters

q1	The first quaternion
q2	The second quaternion
t	The ration between q1 and q2. t = 0 return q1, t=1 returns q2 Slerp assumes constant velocity between positions.

quatRotate()

Vector3 tf2::quatRotate	(	const Quaternion &	rotation,
		const Vector3 &	v
	)

shortestArcQuat()

Quaternion tf2::shortestArcQuat	(	const Vector3 &	v0,
		const Vector3 &	v1
	)

shortestArcQuatNormalize2()

Quaternion tf2::shortestArcQuatNormalize2	(	Vector3 &	v0,
		Vector3 &	v1
	)

operator==() [2/4]

bool tf2::operator==	(	const Transform &	t1,
		const Transform &	t2
	)

Test if two transforms have all elements equal.

operator+()

Vector3 tf2::operator+	(	const Vector3 &	v1,
		const Vector3 &	v2
	)

Return the sum of two vectors (Point symantics)

operator*() [7/9]

Vector3 tf2::operator*	(	const Vector3 &	v1,
		const Vector3 &	v2
	)

Return the elementwise product of two vectors.

operator-() [2/3]

Vector3 tf2::operator-	(	const Vector3 &	v1,
		const Vector3 &	v2
	)

Return the difference between two vectors.

operator-() [3/3]

Vector3 tf2::operator-

(

const Vector3 &

v

)

Return the negative of the vector.

operator*() [8/9]

Vector3 tf2::operator*	(	const Vector3 &	v,
		const tf2Scalar &	s
	)

Return the vector scaled by s.

operator*() [9/9]

Vector3 tf2::operator*	(	const tf2Scalar &	s,
		const Vector3 &	v
	)

Return the vector scaled by s.

operator/() [1/2]

Vector3 tf2::operator/	(	const Vector3 &	v,
		const tf2Scalar &	s
	)

Return the vector inversely scaled by s.

operator/() [2/2]

Vector3 tf2::operator/	(	const Vector3 &	v1,
		const Vector3 &	v2
	)

Return the vector inversely scaled by s.

tf2Dot()

tf2Scalar tf2::tf2Dot	(	const Vector3 &	v1,
		const Vector3 &	v2
	)

Return the dot product between two vectors.

tf2Distance2()

tf2Scalar tf2::tf2Distance2	(	const Vector3 &	v1,
		const Vector3 &	v2
	)

Return the distance squared between two vectors.

tf2Distance()

tf2Scalar tf2::tf2Distance	(	const Vector3 &	v1,
		const Vector3 &	v2
	)

Return the distance between two vectors.

tf2Angle()

tf2Scalar tf2::tf2Angle	(	const Vector3 &	v1,
		const Vector3 &	v2
	)

Return the angle between two vectors.

tf2Cross()

Vector3 tf2::tf2Cross	(	const Vector3 &	v1,
		const Vector3 &	v2
	)

Return the cross product of two vectors.

tf2Triple()

tf2Scalar tf2::tf2Triple	(	const Vector3 &	v1,
		const Vector3 &	v2,
		const Vector3 &	v3
	)

lerp()

Vector3 tf2::lerp	(	const Vector3 &	v1,
		const Vector3 &	v2,
		const tf2Scalar &	t
	)

Return the linear interpolation between two vectors.

Parameters

v1	One vector
v2	The other vector
t	The ration of this to v (t = 0 => return v1, t=1 => return v2)

tf2SwapScalarEndian()

void tf2::tf2SwapScalarEndian	(	const tf2Scalar &	sourceVal,
		tf2Scalar &	destVal
	)

tf2SwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization

tf2SwapVector3Endian()

void tf2::tf2SwapVector3Endian	(	const Vector3 &	sourceVec,
		Vector3 &	destVec
	)

tf2SwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization

tf2UnSwapVector3Endian()

void tf2::tf2UnSwapVector3Endian

(

Vector3 &

vector

)

tf2UnSwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization

tf2PlaneSpace1()

void tf2::tf2PlaneSpace1	(	const Vector3 &	n,
		Vector3 &	p,
		Vector3 &	q
	)

get_now()

TimePoint tf2::get_now

(

)

durationFromSec()

Duration tf2::durationFromSec

(

double

t_sec

)

timeFromSec()

TimePoint tf2::timeFromSec

(

double

t_sec

)

durationToSec()

double tf2::durationToSec

(

const tf2::Duration &

input

)

timeToSec()

double tf2::timeToSec

(

const TimePoint &

timepoint

)

displayTimePoint()

std::string tf2::displayTimePoint

(

const TimePoint &

stamp

)

operator==() [3/4]

template<typename T >

bool tf2::operator==	(	const Stamped< T > &	a,
		const Stamped< T > &	b
	)

Comparison Operator for Stamped datatypes.

operator==() [4/4]

template<typename T >

bool tf2::operator==	(	const WithCovarianceStamped< T > &	a,
		const WithCovarianceStamped< T > &	b
	)

Comparison operator for WithCovarianceStamped datatypes.

getEulerYPR()

template<class A >

void tf2::getEulerYPR	(	const A &	a,
		double &	yaw,
		double &	pitch,
		double &	roll
	)

Return the yaw, pitch, roll of anything that can be converted to a tf2::Quaternion The conventions are the usual ROS ones defined in tf2/LineMath/Matrix3x3.h

Parameters

a	the object to get data from (it represents a rotation/quaternion)
yaw	yaw
pitch	pitch
roll	roll

getYaw()

template<class A >

double tf2::getYaw

(

const A &

a

)

Return the yaw of anything that can be converted to a tf2::Quaternion The conventions are the usual ROS ones defined in tf2/LineMath/Matrix3x3.h This function is a specialization of getEulerYPR and is useful for its wide-spread use in navigation

Parameters

a	the object to get data from (it represents a rotation/quaternion)

Returns

yaw

getTransformIdentity()

template<class A >

A tf2::getTransformIdentity

(

)

Return the identity for any type that can be converted to a tf2::Transform

Returns

an object of class A that is an identity transform

Variable Documentation

TIMECACHE_DEFAULT_MAX_STORAGE_TIME

constexpr tf2::Duration tf2::TIMECACHE_DEFAULT_MAX_STORAGE_TIME = std::chrono::seconds(10)

constexpr

default value of 10 seconds storage