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.
Public Member Functions | List of all members
tf2::BufferCoreInterface Class Referenceabstract

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

#include <buffer_core_interface.h>

Inheritance diagram for tf2::BufferCoreInterface:
Inheritance graph
[legend]

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::stringgetAllFrameNames () 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_frameThe frame to which data should be transformed.
source_frameThe frame where the data originated.
timeThe 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_frameThe frame to which data should be transformed.
target_timeThe time to which the data should be transformed (0 will get the latest).
source_frameThe frame where the data originated.
source_timeThe time at which the source_frame should be evaluated (0 will get the latest).
fixed_frameThe 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_frameThe frame into which to transform.
source_frameThe frame from which to transform.
timeThe time at which to transform.
error_msgA 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_frameThe frame into which to transform.
target_timeThe time into which to transform.
source_frameThe frame from which to transform.
source_timeThe time from which to transform.
fixed_frameThe frame in which to treat the transform as constant in time.
error_msgA 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: