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

#include <buffer_core_interface.h>

Inheritance diagram for tf2::BufferCoreInterface:

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...

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 NULL.

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 NULL.

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.

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

include/tf2/buffer_core_interface.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ~BufferCoreInterface()

Member Function Documentation

◆ clear()

◆ lookupTransform() [1/2]

◆ lookupTransform() [2/2]

◆ canTransform() [1/2]

◆ canTransform() [2/2]

◆ getAllFrameNames()