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

Detailed Description

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

Virtual base class for interfaces to a ROS tf2-like service capable of "publishing" and "looking-up" relative poses between two "coordinate frames".

Use derived classes for:

• wrapping real ROS tf (TO-DO in mrpt-bridge), or
• using a pure MRPT standalone TF service with mrpt::poses::FrameTransformer

Frame IDs are strings. MRPT modules use the standard ROS REP 105 document regarding common names for frames:

• base_link: "the robot"
• odom: Origin for odometry
• map: Origin for "the map"

Template Parameters

DIM	Can be 2 for SE(2), 2D transformations; or 3 for SE(3), 3D transformations.

See also

FrameTransformer, CPose3D

Definition at line 52 of file FrameTransformer.h.

#include <mrpt/poses/FrameTransformer.h>

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

Public Types
using	pose_t = typename SE_traits< DIM >::pose_t
	This will be mapped to CPose2D (DIM=2) or CPose3D (DIM=3) More...
using	lightweight_pose_t = typename SE_traits< DIM >::lightweight_pose_t
	This will be mapped to mrpt::math::TPose2D (DIM=2) or mrpt::math::TPose3D (DIM=3) More...

Public Member Functions
	FrameTransformerInterface ()
virtual	~FrameTransformerInterface ()
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...
virtual FrameLookUpStatus	lookupTransform (const std::string &target_frame, const std::string &source_frame, lightweight_pose_t &child_wrt_parent, const mrpt::system::TTimeStamp query_time=INVALID_TIMESTAMP, const double timeout_secs=.0)=0
	Queries the current pose of target_frame wrt ("as seen from") source_frame. More...

Member Typedef Documentation

lightweight_pose_t

template<int DIM>

using mrpt::poses::FrameTransformerInterface< DIM >::lightweight_pose_t = typename SE_traits<DIM>::lightweight_pose_t

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

Definition at line 59 of file FrameTransformer.h.

pose_t

template<int DIM>

using mrpt::poses::FrameTransformerInterface< DIM >::pose_t = typename SE_traits<DIM>::pose_t

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

Definition at line 56 of file FrameTransformer.h.

Constructor & Destructor Documentation

FrameTransformerInterface()

template<int DIM>

FrameTransformerInterface::FrameTransformerInterface

Definition at line 21 of file FrameTransformer.cpp.

~FrameTransformerInterface()

template<int DIM>

FrameTransformerInterface::~FrameTransformerInterface

virtual

Definition at line 25 of file FrameTransformer.cpp.

Member Function Documentation

lookupTransform()

template<int DIM>

virtual FrameLookUpStatus mrpt::poses::FrameTransformerInterface< DIM >::lookupTransform ( const std::string &  target_frame, const std::string &  source_frame, lightweight_pose_t &  child_wrt_parent, const mrpt::system::TTimeStamp  query_time = INVALID_TIMESTAMP, const double  timeout_secs = .0  )

pure virtual

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.

Parameters

timeout_secs

Timeout

Implemented in mrpt::poses::FrameTransformer< DIM >, and mrpt::poses::FrameTransformer< 2 >.

sendTransform()

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 virtual

Publish a time-stampped transform between two frames.