tf2_ros  master
This package contains the ROS bindings for the tf2 library, for both Python and C++.
Public Member Functions | List of all members
tf2_ros::BufferInterface Class Referenceabstract

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>

Inheritance diagram for tf2_ros::BufferInterface:
Inheritance graph
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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 >
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 >
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()

virtual tf2_ros::BufferInterface::~BufferInterface ( )
inlinevirtual

Member Function Documentation

◆ lookupTransform() [1/2]

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

virtual TF2_ROS_PUBLIC geometry_msgs::msg::TransformStamped tf2_ros::BufferInterface::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
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.
timeoutHow 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]

virtual TF2_ROS_PUBLIC bool tf2_ros::BufferInterface::canTransform ( const std::string target_frame,
const std::string source_frame,
const tf2::TimePoint &  time,
const tf2::Duration  timeout,
std::string errstr = NULL 
) 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
timeoutHow long to block before failing
errstrA 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]

virtual TF2_ROS_PUBLIC bool tf2_ros::BufferInterface::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
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
timeoutHow long to block before failing
errstrA 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]

template<class T >
T& tf2_ros::BufferInterface::transform ( const T &  in,
T &  out,
const std::string target_frame,
tf2::Duration  timeout = tf2::durationFromSec(0.0) 
) const
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
TThe type of the object to transform.
Parameters
inThe object to transform
outThe transformed output, preallocated by the caller.
target_frameThe string identifer for the frame to transform into.
timeoutHow long to wait for the target frame. Default value is zero (no blocking).

◆ transform() [2/6]

template<class T >
T tf2_ros::BufferInterface::transform ( const T &  in,
const std::string target_frame,
tf2::Duration  timeout = tf2::durationFromSec(0.0) 
) const
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
TThe type of the object to transform.
Parameters
inThe object to transform.
target_frameThe string identifer for the frame to transform into.
timeoutHow long to wait for the target frame. Default value is zero (no blocking).
Returns
The transformed output.

◆ transform() [3/6]

template<class A , class B >
B& tf2_ros::BufferInterface::transform ( const A &  in,
B &  out,
const std::string target_frame,
tf2::Duration  timeout = tf2::durationFromSec(0.0) 
) const
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
AThe type of the object to transform.
BThe type of the transformed output.
Parameters
inThe object to transform
outThe transformed output, converted to the specified type.
target_frameThe string identifer for the frame to transform into.
timeoutHow 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]

template<class T >
T& tf2_ros::BufferInterface::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
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
TThe type of the object to transform.
Parameters
inThe object to transform
outThe transformed output, preallocated by the caller.
target_frameThe string identifer for the frame to transform into.
target_timeThe time into which to transform
fixed_frameThe frame in which to treat the transform as constant in time.
timeoutHow long to wait for the target frame. Default value is zero (no blocking).

◆ transform() [5/6]

template<class T >
T tf2_ros::BufferInterface::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
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
TThe type of the object to transform.
Parameters
inThe object to transform
target_frameThe string identifer for the frame to transform into.
target_timeThe time into which to transform
fixed_frameThe frame in which to treat the transform as constant in time.
timeoutHow long to wait for the target frame. Default value is zero (no blocking).
Returns
The transformed output.

◆ transform() [6/6]

template<class A , class B >
B& tf2_ros::BufferInterface::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
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
AThe type of the object to transform.
BThe type of the transformed output.
Parameters
inThe object to transform
outThe transformed output, converted to the specified output type.
target_frameThe string identifer for the frame to transform into.
target_timeThe time into which to transform
fixed_frameThe frame in which to treat the transform as constant in time.
timeoutHow 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: