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()
|
virtualdefault |
Member Function Documentation
◆ clear()
|
pure virtual |
Clear internal state data.
Implemented in tf2::BufferCore.
◆ 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).
- Returns
- The transform between the frames.
Implemented in tf2::BufferCore.
◆ 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.
- Returns
- The transform between the frames.
Implemented in tf2::BufferCore.
◆ 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. 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]
|
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()
|
pure virtual |
Get all frames that exist in the system.
Implemented in tf2::BufferCore.
The documentation for this class was generated from the following file:
- include/tf2/buffer_core_interface.h
