Abstract interface for wrapping tf2::BufferCoreInterface in a ROS-based API. Implementations include tf2_ros::Buffer and tf2_ros::BufferClient. More...
#include <buffer_interface.h>
Public Member Functions | |
| virtual TF2_ROS_PUBLIC geometry_msgs::msg::TransformStamped | lookupTransform (const std::string &target_frame, const std::string &source_frame, const tf2::TimePoint &time, const tf2::Duration timeout) const =0 |
| Get the transform between two frames by frame ID. More... | |
| virtual TF2_ROS_PUBLIC 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 tf2::Duration timeout) const =0 |
| Get the transform between two frames by frame ID assuming fixed frame. More... | |
| virtual TF2_ROS_PUBLIC bool | canTransform (const std::string &target_frame, const std::string &source_frame, const tf2::TimePoint &time, const tf2::Duration timeout, std::string *errstr=NULL) const =0 |
| Test if a transform is possible. More... | |
| virtual TF2_ROS_PUBLIC 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, const tf2::Duration timeout, std::string *errstr=NULL) const =0 |
| Test if a transform is possible. More... | |
| template<class T > | |
| T & | transform (const T &in, T &out, const std::string &target_frame, tf2::Duration timeout=tf2::durationFromSec(0.0)) const |
| Transform an input into the target frame. This function is templated and can take as input any valid mathematical object that tf knows how to apply a transform to, by way of the templated math conversions interface. For example, the template type could be a Transform, Pose, Vector, or Quaternion message type (as defined in geometry_msgs). More... | |
| template<class T > | |
| T | transform (const T &in, const std::string &target_frame, tf2::Duration timeout=tf2::durationFromSec(0.0)) const |
| Transform an input into the target frame. This function is templated and can take as input any valid mathematical object that tf knows how to apply a transform to, by way of the templated math conversions interface. For example, the template type could be a Transform, Pose, Vector, or Quaternion message type (as defined in geometry_msgs). More... | |
| template<class A , class B > | |
| B & | transform (const A &in, B &out, const std::string &target_frame, tf2::Duration timeout=tf2::durationFromSec(0.0)) const |
| Transform an input into the target frame and convert to a specified output type. It is templated on two types: the type of the input object and the type of the transformed output. For example, the template types could be Transform, Pose, Vector, or Quaternion messages type (as defined in geometry_msgs). The function will calculate the transformation and then convert the result into the specified output type. Compilation will fail if a known conversion does not exist bewteen the two template parameters. More... | |
| template<class T > | |
| T & | transform (const T &in, T &out, const std::string &target_frame, const tf2::TimePoint &target_time, const std::string &fixed_frame, tf2::Duration timeout=tf2::durationFromSec(0.0)) const |
| Transform an input into the target frame (advanced). This function is templated and can take as input any valid mathematical object that tf knows how to apply a transform to, by way of the templated math conversions interface. For example, the template type could be a Transform, Pose, Vector, or Quaternion message type (as defined in geometry_msgs). This function follows the advanced API, which allows transforming between different time points, and specifying a fixed frame that does not varying in time. More... | |
| template<class T > | |
| T | transform (const T &in, const std::string &target_frame, const tf2::TimePoint &target_time, const std::string &fixed_frame, tf2::Duration timeout=tf2::durationFromSec(0.0)) const |
| Transform an input into the target frame (advanced). This function is templated and can take as input any valid mathematical object that tf knows how to apply a transform to, by way of the templated math conversions interface. For example, the template type could be a Transform, Pose, Vector, or Quaternion message type (as defined in geometry_msgs). This function follows the advanced API, which allows transforming between different time points, and specifying a fixed frame that does not varying in time. More... | |
| template<class A , class B > | |
| B & | transform (const A &in, B &out, const std::string &target_frame, const tf2::TimePoint &target_time, const std::string &fixed_frame, tf2::Duration timeout=tf2::durationFromSec(0.0)) const |
| Transform an input into the target frame and convert to a specified output type (advanced). It is templated on two types: the type of the input object and the type of the transformed output. For example, the template type could be a Transform, Pose, Vector, or Quaternion message type (as defined in geometry_msgs). The function will calculate the transformation and then convert the result into the specified output type. Compilation will fail if a known conversion does not exist bewteen the two template parameters. This function follows the advanced API, which allows transforming between different time points, and specifying a fixed frame that does not varying in time. More... | |
| virtual | ~BufferInterface () |
Detailed Description
Abstract interface for wrapping tf2::BufferCoreInterface in a ROS-based API. Implementations include tf2_ros::Buffer and tf2_ros::BufferClient.
Constructor & Destructor Documentation
◆ ~BufferInterface()
|
inlinevirtual |
Member Function Documentation
◆ lookupTransform() [1/2]
|
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) timeout How long to block before failing
- Returns
- The transform between the frames
Possible exceptions tf2::LookupException, tf2::ConnectivityException, tf2::ExtrapolationException, tf2::InvalidArgumentException
Implemented in tf2_ros::BufferClient, and tf2_ros::Buffer.
◆ lookupTransform() [2/2]
|
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. timeout How long to block before failing
- Returns
- The transform between the frames
Possible exceptions tf2::LookupException, tf2::ConnectivityException, tf2::ExtrapolationException, tf2::InvalidArgumentException
Implemented in tf2_ros::BufferClient, and tf2_ros::Buffer.
◆ canTransform() [1/2]
|
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 timeout How long to block before failing errstr A pointer to a string which will be filled with why the transform failed, if not NULL
- Returns
- True if the transform is possible, false otherwise
Implemented in tf2_ros::BufferClient, and tf2_ros::Buffer.
◆ canTransform() [2/2]
|
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 timeout How long to block before failing errstr A pointer to a string which will be filled with why the transform failed, if not NULL
- Returns
- True if the transform is possible, false otherwise
Implemented in tf2_ros::BufferClient, and tf2_ros::Buffer.
◆ transform() [1/6]
|
inline |
Transform an input into the target frame. This function is templated and can take as input any valid mathematical object that tf knows how to apply a transform to, by way of the templated math conversions interface. For example, the template type could be a Transform, Pose, Vector, or Quaternion message type (as defined in geometry_msgs).
- Template Parameters
-
T The type of the object to transform.
- Parameters
-
in The object to transform out The transformed output, preallocated by the caller. target_frame The string identifer for the frame to transform into. timeout How long to wait for the target frame. Default value is zero (no blocking).
◆ transform() [2/6]
|
inline |
Transform an input into the target frame. This function is templated and can take as input any valid mathematical object that tf knows how to apply a transform to, by way of the templated math conversions interface. For example, the template type could be a Transform, Pose, Vector, or Quaternion message type (as defined in geometry_msgs).
- Template Parameters
-
T The type of the object to transform.
- Parameters
-
in The object to transform. target_frame The string identifer for the frame to transform into. timeout How long to wait for the target frame. Default value is zero (no blocking).
- Returns
- The transformed output.
◆ transform() [3/6]
|
inline |
Transform an input into the target frame and convert to a specified output type. It is templated on two types: the type of the input object and the type of the transformed output. For example, the template types could be Transform, Pose, Vector, or Quaternion messages type (as defined in geometry_msgs). The function will calculate the transformation and then convert the result into the specified output type. Compilation will fail if a known conversion does not exist bewteen the two template parameters.
- Template Parameters
-
A The type of the object to transform. B The type of the transformed output.
- Parameters
-
in The object to transform out The transformed output, converted to the specified type. target_frame The string identifer for the frame to transform into. timeout How long to wait for the target frame. Default value is zero (no blocking).
- Returns
- The transformed output, converted to the specified type.
◆ transform() [4/6]
|
inline |
Transform an input into the target frame (advanced). This function is templated and can take as input any valid mathematical object that tf knows how to apply a transform to, by way of the templated math conversions interface. For example, the template type could be a Transform, Pose, Vector, or Quaternion message type (as defined in geometry_msgs). This function follows the advanced API, which allows transforming between different time points, and specifying a fixed frame that does not varying in time.
- Template Parameters
-
T The type of the object to transform.
- Parameters
-
in The object to transform out The transformed output, preallocated by the caller. target_frame The string identifer for the frame to transform into. target_time The time into which to transform fixed_frame The frame in which to treat the transform as constant in time. timeout How long to wait for the target frame. Default value is zero (no blocking).
◆ transform() [5/6]
|
inline |
Transform an input into the target frame (advanced). This function is templated and can take as input any valid mathematical object that tf knows how to apply a transform to, by way of the templated math conversions interface. For example, the template type could be a Transform, Pose, Vector, or Quaternion message type (as defined in geometry_msgs). This function follows the advanced API, which allows transforming between different time points, and specifying a fixed frame that does not varying in time.
- Template Parameters
-
T The type of the object to transform.
- Parameters
-
in The object to transform target_frame The string identifer for the frame to transform into. target_time The time into which to transform fixed_frame The frame in which to treat the transform as constant in time. timeout How long to wait for the target frame. Default value is zero (no blocking).
- Returns
- The transformed output.
◆ transform() [6/6]
|
inline |
Transform an input into the target frame and convert to a specified output type (advanced). It is templated on two types: the type of the input object and the type of the transformed output. For example, the template type could be a Transform, Pose, Vector, or Quaternion message type (as defined in geometry_msgs). The function will calculate the transformation and then convert the result into the specified output type. Compilation will fail if a known conversion does not exist bewteen the two template parameters. This function follows the advanced API, which allows transforming between different time points, and specifying a fixed frame that does not varying in time.
- Template Parameters
-
A The type of the object to transform. B The type of the transformed output.
- Parameters
-
in The object to transform out The transformed output, converted to the specified output type. target_frame The string identifer for the frame to transform into. target_time The time into which to transform fixed_frame The frame in which to treat the transform as constant in time. timeout How long to wait for the target frame. Default value is zero (no blocking).
- Returns
- The transformed output, converted to the specified output type.
The documentation for this class was generated from the following file:
- /tmp/tmp.G0mQUHO3yi/src/ros2/geometry2/tf2_ros/include/tf2_ros/buffer_interface.h
