Standard implementation of the tf2_ros::BufferInterface abstract data type. More...

#include <buffer.h>

Inheritance diagram for tf2_ros::Buffer:

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Collaboration diagram for tf2_ros::Buffer:

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Public Member Functions
TF2_ROS_PUBLIC	Buffer (rclcpp::Clock::SharedPtr clock, tf2::Duration cache_time=tf2::Duration(tf2::BUFFER_CORE_DEFAULT_CACHE_TIME), rclcpp::Node::SharedPtr node=rclcpp::Node::SharedPtr())
	Constructor for a Buffer object. More...

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 override
	Get the transform between two frames by frame ID. More...

TF2_ROS_PUBLIC geometry_msgs::msg::TransformStamped	lookupTransform (const std::string &target_frame, const std::string &source_frame, const rclcpp::Time &time, const rclcpp::Duration timeout=rclcpp::Duration::from_nanoseconds(0)) const
	Get the transform between two frames by frame ID. More...

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 override
	Get the transform between two frames by frame ID assuming fixed frame. More...

TF2_ROS_PUBLIC geometry_msgs::msg::TransformStamped	lookupTransform (const std::string &target_frame, const rclcpp::Time &target_time, const std::string &source_frame, const rclcpp::Time &source_time, const std::string &fixed_frame, const rclcpp::Duration timeout=rclcpp::Duration::from_nanoseconds(0)) const
	Get the transform between two frames by frame ID assuming fixed frame. More...

TF2_ROS_PUBLIC bool	canTransform (const std::string &target_frame, const std::string &source_frame, const tf2::TimePoint &target_time, const tf2::Duration timeout, std::string *errstr=NULL) const override
	Test if a transform is possible. More...

TF2_ROS_PUBLIC bool	canTransform (const std::string &target_frame, const std::string &source_frame, const rclcpp::Time &time, const rclcpp::Duration timeout=rclcpp::Duration::from_nanoseconds(0), std::string *errstr=NULL) const
	Test if a transform is possible. More...

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 override
	Test if a transform is possible. More...

TF2_ROS_PUBLIC bool	canTransform (const std::string &target_frame, const rclcpp::Time &target_time, const std::string &source_frame, const rclcpp::Time &source_time, const std::string &fixed_frame, const rclcpp::Duration timeout=rclcpp::Duration::from_nanoseconds(0), std::string *errstr=NULL) const
	Test if a transform is possible. More...

TF2_ROS_PUBLIC TransformStampedFuture	waitForTransform (const std::string &target_frame, const std::string &source_frame, const tf2::TimePoint &time, const tf2::Duration &timeout, TransformReadyCallback callback) override
	Wait for a transform between two frames to become available. More...

TF2_ROS_PUBLIC TransformStampedFuture	waitForTransform (const std::string &target_frame, const std::string &source_frame, const rclcpp::Time &time, const rclcpp::Duration &timeout, TransformReadyCallback callback)
	Wait for a transform between two frames to become available. More...

TF2_ROS_PUBLIC void	setCreateTimerInterface (CreateTimerInterface::SharedPtr create_timer_interface)

Public Member Functions inherited from tf2_ros::BufferInterface
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 ()

Public Member Functions inherited from tf2_ros::AsyncBufferInterface
virtual TF2_ROS_PUBLIC	~AsyncBufferInterface ()=default

Detailed Description

Standard implementation of the tf2_ros::BufferInterface abstract data type.

Inherits tf2_ros::BufferInterface and tf2::BufferCore. Stores known frames and offers a ROS service, "tf_frames", which responds to client requests with a response containing a tf2_msgs::FrameGraph representing the relationship of known frames.

Constructor & Destructor Documentation

◆ Buffer()

TF2_ROS_PUBLIC tf2_ros::Buffer::Buffer	(	rclcpp::Clock::SharedPtr	clock,
		tf2::Duration	cache_time = `tf2::Duration(tf2::BUFFER_CORE_DEFAULT_CACHE_TIME)`,
		rclcpp::Node::SharedPtr	node = `rclcpp::Node::SharedPtr()`
	)

Constructor for a Buffer object.

Parameters

clock	A clock to use for time and sleeping
cache_time	How long to keep a history of transforms
node	If passed advertise the view_frames service that exposes debugging information from the buffer

Member Function Documentation

◆ lookupTransform() [1/4]

TF2_ROS_PUBLIC geometry_msgs::msg::TransformStamped tf2_ros::Buffer::lookupTransform	(	const std::string &	target_frame,
		const std::string &	source_frame,
		const tf2::TimePoint &	time,
		const tf2::Duration	timeout
	)		const

overridevirtual

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

Implements tf2_ros::BufferInterface.

◆ lookupTransform() [2/4]

TF2_ROS_PUBLIC geometry_msgs::msg::TransformStamped tf2_ros::Buffer::lookupTransform	(	const std::string &	target_frame,
		const std::string &	source_frame,
		const rclcpp::Time &	time,
		const rclcpp::Duration	timeout = `rclcpp::Duration::from_nanoseconds(0)`
	)		const

inline

Get the transform between two frames by frame ID.

See also: lookupTransform(const std::string&, const std::string&, const tf2::TimePoint&, const tf2::Duration)

◆ lookupTransform() [3/4]

TF2_ROS_PUBLIC geometry_msgs::msg::TransformStamped tf2_ros::Buffer::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

overridevirtual

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

Implements tf2_ros::BufferInterface.

◆ lookupTransform() [4/4]

TF2_ROS_PUBLIC geometry_msgs::msg::TransformStamped tf2_ros::Buffer::lookupTransform	(	const std::string &	target_frame,
		const rclcpp::Time &	target_time,
		const std::string &	source_frame,
		const rclcpp::Time &	source_time,
		const std::string &	fixed_frame,
		const rclcpp::Duration	timeout = `rclcpp::Duration::from_nanoseconds(0)`
	)		const

inline

Get the transform between two frames by frame ID assuming fixed frame.

See also: lookupTransform(const std::string&, const tf2::TimePoint&, const std::string&, const tf2::TimePoint&, const std::string&, const tf2::Duration)

◆ canTransform() [1/4]

TF2_ROS_PUBLIC bool tf2_ros::Buffer::canTransform	(	const std::string &	target_frame,
		const std::string &	source_frame,
		const tf2::TimePoint &	target_time,
		const tf2::Duration	timeout,
		std::string *	errstr = `NULL`
	)		const

overridevirtual

Test if a transform is possible.

Parameters

target_frame	The frame into which to transform
source_frame	The frame from which to transform
target_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

Implements tf2_ros::BufferInterface.

◆ canTransform() [2/4]

TF2_ROS_PUBLIC bool tf2_ros::Buffer::canTransform	(	const std::string &	target_frame,
		const std::string &	source_frame,
		const rclcpp::Time &	time,
		const rclcpp::Duration	timeout = `rclcpp::Duration::from_nanoseconds(0)`,
		std::string *	errstr = `NULL`
	)		const

inline

Test if a transform is possible.

See also: canTransform(const std::string&, const std::string&, const tf2::TimePoint&, const tf2::Duration, std::string*)

◆ canTransform() [3/4]

TF2_ROS_PUBLIC bool tf2_ros::Buffer::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

overridevirtual

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

Implements tf2_ros::BufferInterface.

◆ canTransform() [4/4]

TF2_ROS_PUBLIC bool tf2_ros::Buffer::canTransform	(	const std::string &	target_frame,
		const rclcpp::Time &	target_time,
		const std::string &	source_frame,
		const rclcpp::Time &	source_time,
		const std::string &	fixed_frame,
		const rclcpp::Duration	timeout = `rclcpp::Duration::from_nanoseconds(0)`,
		std::string *	errstr = `NULL`
	)		const

inline

Test if a transform is possible.

See also: canTransform(const std::string&, const tf2::TimePoint&, const std::string&, const tf2::TimePoint&, const std::string&, const tf2::Duration, std::string*)

◆ waitForTransform() [1/2]

TF2_ROS_PUBLIC TransformStampedFuture tf2_ros::Buffer::waitForTransform	(	const std::string &	target_frame,
		const std::string &	source_frame,
		const tf2::TimePoint &	time,
		const tf2::Duration &	timeout,
		TransformReadyCallback	callback
	)

overridevirtual

Wait for a transform between two frames to become available.

Before this method can be called, a tf2_ros::CreateTimerInterface must be registered by first calling setCreateTimerInterface. If no tf2_ros::CreateTimerInterface is set, then a tf2_ros::CreateTimerInterfaceException is thrown.

Parameters

target_frame	The frame into which to transform.
source_frame	The frame from which to tranform.
time	The time at which to transform.
timeout	Duration after which waiting will be stopped.
callback	The function to be called when the transform becomes available or a timeout occurs. In the case of timeout, an exception will be set on the future.

Returns: A future to the requested transform. If a timeout occurs a tf2::LookupException will be set on the future.

Implements tf2_ros::AsyncBufferInterface.

◆ waitForTransform() [2/2]

TF2_ROS_PUBLIC TransformStampedFuture tf2_ros::Buffer::waitForTransform	(	const std::string &	target_frame,
		const std::string &	source_frame,
		const rclcpp::Time &	time,
		const rclcpp::Duration &	timeout,
		TransformReadyCallback	callback
	)

inline

Wait for a transform between two frames to become available.

See also: waitForTransform(const std::string &, const std::string &, const tf2::TimePoint &, const tf2::Duration &, TransformReadyCallback);

◆ setCreateTimerInterface()

TF2_ROS_PUBLIC void tf2_ros::Buffer::setCreateTimerInterface ( CreateTimerInterface::SharedPtr create_timer_interface )

inline

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

/tmp/tmp.oXr5q5Nd7N/src/ros2/geometry2/tf2_ros/include/tf2_ros/buffer.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Buffer()

Member Function Documentation

◆ lookupTransform() [1/4]

◆ lookupTransform() [2/4]

◆ lookupTransform() [3/4]

◆ lookupTransform() [4/4]

◆ canTransform() [1/4]

◆ canTransform() [2/4]

◆ canTransform() [3/4]

◆ canTransform() [4/4]

◆ waitForTransform() [1/2]

◆ waitForTransform() [2/2]

◆ setCreateTimerInterface()