mrpt::poses::FrameTransformer< DIM > Class Template Reference

Detailed Description

template<int DIM>
class mrpt::poses::FrameTransformer< DIM >

See docs in FrameTransformerInterface.

This class is an implementation for standalone (non ROS) applications.

See also

FrameTransformerInterface

Definition at line 88 of file FrameTransformer.h.

#include <mrpt/poses/FrameTransformer.h>

Inheritance diagram for mrpt::poses::FrameTransformer< DIM >:

Classes
struct	TF_TreeEdge

Public Types
using	base_t = FrameTransformerInterface< DIM >
using	pose_t = typename Lie::SE< DIM >::type
	This will be mapped to CPose2D (DIM=2) or CPose3D (DIM=3) More...
using	light_type = typename Lie::SE< DIM >::light_type
	This will be mapped to mrpt::math::TPose2D (DIM=2) or mrpt::math::TPose3D (DIM=3) More...

Public Member Functions
	FrameTransformer ()
	~FrameTransformer () override
void	sendTransform (const std::string &parent_frame, const std::string &child_frame, const typename base_t::pose_t &child_wrt_parent, const mrpt::system::TTimeStamp &timestamp=mrpt::system::now()) override
FrameLookUpStatus	lookupTransform (const std::string &target_frame, const std::string &source_frame, typename base_t::light_type &child_wrt_parent, const mrpt::system::TTimeStamp query_time=INVALID_TIMESTAMP, const double timeout_secs=.0) override
	Queries the current pose of target_frame wrt ("as seen from") source_frame. More...
FrameLookUpStatus	lookupTransform (const std::string &target_frame, const std::string &source_frame, typename base_t::pose_t &child_wrt_parent, const mrpt::system::TTimeStamp query_time=INVALID_TIMESTAMP, const double timeout_secs=.0)
virtual void	sendTransform (const std::string &parent_frame, const std::string &child_frame, const pose_t &child_wrt_parent, const mrpt::system::TTimeStamp &timestamp=mrpt::system::now())=0
	Publish a time-stampped transform between two frames. More...

Protected Types
using	pose_tree_t = std::map< std::string, std::map< std::string, TF_TreeEdge > >

Protected Attributes
pose_tree_t	m_pose_edges_buffer

Member Typedef Documentation

base_t

template<int DIM>

using mrpt::poses::FrameTransformer< DIM >::base_t = FrameTransformerInterface<DIM>

Definition at line 91 of file FrameTransformer.h.

light_type

template<int DIM>

using mrpt::poses::FrameTransformerInterface< DIM >::light_type = typename Lie::SE<DIM>::light_type

inherited

This will be mapped to mrpt::math::TPose2D (DIM=2) or mrpt::math::TPose3D (DIM=3)

Definition at line 56 of file FrameTransformer.h.

pose_t

template<int DIM>

using mrpt::poses::FrameTransformerInterface< DIM >::pose_t = typename Lie::SE<DIM>::type

inherited

This will be mapped to CPose2D (DIM=2) or CPose3D (DIM=3)

Definition at line 53 of file FrameTransformer.h.

pose_tree_t

template<int DIM>

using mrpt::poses::FrameTransformer< DIM >::pose_tree_t = std::map<std::string, std::map<std::string, TF_TreeEdge> >

protected

Definition at line 146 of file FrameTransformer.h.

Constructor & Destructor Documentation

FrameTransformer()

template<int DIM>

FrameTransformer::FrameTransformer ( )

default

~FrameTransformer()

template<int DIM>

FrameTransformer::~FrameTransformer ( )

overridedefault

Member Function Documentation

lookupTransform() [1/2]

template<int DIM>

FrameLookUpStatus FrameTransformer::lookupTransform ( const std::string &  target_frame, const std::string &  source_frame, typename base_t::light_type &  child_wrt_parent, const mrpt::system::TTimeStamp  query_time = INVALID_TIMESTAMP, const double  timeout_secs = .0  )

overridevirtual

Queries the current pose of target_frame wrt ("as seen from") source_frame.

It tries to return the pose at the given timepoint, unless it is INVALID_TIMESTAMP (default), which means returning the latest know transformation.

Implements mrpt::poses::FrameTransformerInterface< DIM >.

Definition at line 58 of file FrameTransformer.cpp.

Referenced by mrpt::poses::FrameTransformer< 2 >::lookupTransform(), and run_tf_test1().

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lookupTransform() [2/2]

template<int DIM>

FrameLookUpStatus mrpt::poses::FrameTransformer< DIM >::lookupTransform ( const std::string &  target_frame, const std::string &  source_frame, typename base_t::pose_t &  child_wrt_parent, const mrpt::system::TTimeStamp  query_time = INVALID_TIMESTAMP, const double  timeout_secs = .0  )

inline

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Parameters

timeout_secs

Timeout

Definition at line 110 of file FrameTransformer.h.

sendTransform() [1/2]

template<int DIM>

virtual void mrpt::poses::FrameTransformerInterface< DIM >::sendTransform ( const std::string &  parent_frame, const std::string &  child_frame, const pose_t &  child_wrt_parent, const mrpt::system::TTimeStamp &  timestamp = mrpt::system::now()  )

pure virtualinherited

Publish a time-stampped transform between two frames.

sendTransform() [2/2]

template<int DIM>

void FrameTransformer::sendTransform ( const std::string &  parent_frame, const std::string &  child_frame, const typename base_t::pose_t &  child_wrt_parent, const mrpt::system::TTimeStamp &  timestamp = mrpt::system::now()  )

override

Definition at line 44 of file FrameTransformer.cpp.

Referenced by run_tf_test1().

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Member Data Documentation

m_pose_edges_buffer

template<int DIM>

pose_tree_t mrpt::poses::FrameTransformer< DIM >::m_pose_edges_buffer

protected

Definition at line 147 of file FrameTransformer.h.