tf2
master
tf2 maintains the relationship between coordinate frames in a tree structure buffered in time, and lets the user transform points, vectors, etc between any two coordinate frames at any desired point in time.
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Interface for providing coordinate transforms between any two frames in a system. More...
#include <buffer_core_interface.h>
Public Member Functions | |
virtual | ~BufferCoreInterface ()=default |
virtual void | clear ()=0 |
Clear internal state data. More... | |
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. More... | |
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. More... | |
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. More... | |
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. More... | |
virtual std::vector< std::string > | getAllFrameNames () const =0 |
Get all frames that exist in the system. More... | |
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.
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virtualdefault |
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pure virtual |
Clear internal state data.
Implemented in tf2::BufferCore.
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pure virtual |
Get the transform between two frames by frame ID.
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). |
Implemented in tf2::BufferCore.
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pure virtual |
Get the transform between two frames by frame ID assuming fixed frame.
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. |
Implemented in tf2::BufferCore.
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pure virtual |
Test if a transform is possible.
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 NULL. |
Implemented in tf2::BufferCore.
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pure virtual |
Test if a transform is possible.
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 NULL. |
Implemented in tf2::BufferCore.
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pure virtual |
Get all frames that exist in the system.
Implemented in tf2::BufferCore.