apollo::transform::Buffer Class Reference

#include <buffer.h>

Inheritance diagram for apollo::transform::Buffer:

Collaboration diagram for apollo::transform::Buffer:

Public Member Functions
int	Init ()
	Constructor for a Buffer object. More...
virtual TransformStamped	lookupTransform (const std::string &target_frame, const std::string &source_frame, const cyber::Time &time, const float timeout_second=0.01f) const
	Get the transform between two frames by frame ID. More...
virtual TransformStamped	lookupTransform (const std::string &target_frame, const cyber::Time &target_time, const std::string &source_frame, const cyber::Time &source_time, const std::string &fixed_frame, const float timeout_second=0.01f) const
	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 cyber::Time &target_time, const float timeout_second=0.01f, std::string *errstr=nullptr) const
	Test if a transform is possible. More...
virtual bool	canTransform (const std::string &target_frame, const cyber::Time &target_time, const std::string &source_frame, const cyber::Time &source_time, const std::string &fixed_frame, const float timeout_second=0.01f, std::string *errstr=nullptr) const
	Test if a transform is possible. More...
bool	GetLatestStaticTF (const std::string &frame_id, const std::string &child_frame_id, TransformStamped *tf)
Public Member Functions inherited from apollo::transform::BufferInterface
template<typename T >
T &	transform (const T &in, T &out, const std::string &target_frame, float timeout=0.0f) const
template<typename T >
T	transform (const T &in, const std::string &target_frame, float timeout=0.0f) const
template<typename A , typename B >
B &	transform (const A &in, B &out, const std::string &target_frame, float timeout=0.0f) const
template<typename T >
T &	transform (const T &in, T &out, const std::string &target_frame, const cyber::Time &target_time, const std::string &fixed_frame, float timeout=0.0f) const
template<typename T >
T	transform (const T &in, const std::string &target_frame, const cyber::Time &target_time, const std::string &fixed_frame, float timeout=0.0f) const
template<typename A , typename B >
B &	transform (const A &in, B &out, const std::string &target_frame, const cyber::Time &target_time, const std::string &fixed_frame, float timeout=0.0f) const

Member Function Documentation

canTransform() [1/2]

virtual bool apollo::transform::Buffer::canTransform ( const std::string &  target_frame, const std::string &  source_frame, const cyber::Time &  target_time, const float  timeout_second = 0.01f, std::string *  errstr = nullptr  ) const

virtual

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 nullptr

Returns

True if the transform is possible, false otherwise

Implements apollo::transform::BufferInterface.

canTransform() [2/2]

virtual bool apollo::transform::Buffer::canTransform ( const std::string &  target_frame, const cyber::Time &  target_time, const std::string &  source_frame, const cyber::Time &  source_time, const std::string &  fixed_frame, const float  timeout_second = 0.01f, std::string *  errstr = nullptr  ) const

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
timeout	How long to block before failing
errstr	A pointer to a string which will be filled with why the transform failed, if not nullptr

Returns

True if the transform is possible, false otherwise

Implements apollo::transform::BufferInterface.

GetLatestStaticTF()

bool apollo::transform::Buffer::GetLatestStaticTF	(	const std::string &	frame_id,
		const std::string &	child_frame_id,
		TransformStamped *	tf
	)

Init()

int apollo::transform::Buffer::Init

(

)

Constructor for a Buffer object.

Parameters

cache_time	How long to keep a history of transforms
debug	Whether to advertise the view_frames service that exposes debugging information from the buffer

Returns

lookupTransform() [1/2]

virtual TransformStamped apollo::transform::Buffer::lookupTransform ( const std::string &  target_frame, const std::string &  source_frame, const cyber::Time &  time, const float  timeout_second = 0.01f  ) const

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)
timeout	How long to block before failing

Returns

The transform between the frames

Possible exceptions tf2::LookupException, tf2::ConnectivityException, tf2::ExtrapolationException, tf2::InvalidArgumentException

Implements apollo::transform::BufferInterface.

lookupTransform() [2/2]

virtual TransformStamped apollo::transform::Buffer::lookupTransform ( const std::string &  target_frame, const cyber::Time &  target_time, const std::string &  source_frame, const cyber::Time &  source_time, const std::string &  fixed_frame, const float  timeout_second = 0.01f  ) const

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.
timeout	How long to block before failing

Returns

The transform between the frames

Possible exceptions tf2::LookupException, tf2::ConnectivityException, tf2::ExtrapolationException, tf2::InvalidArgumentException

Implements apollo::transform::BufferInterface.

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

• modules/transform/buffer.h