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 85 of file FrameTransformer.h.

#include <mrpt/poses/FrameTransformer.h>

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

Classes
struct	TF_TreeEdge

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

Public Member Functions
	FrameTransformer ()
	~FrameTransformer ()
virtual 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()) MRPT_OVERRIDE
virtual FrameLookUpStatus	lookupTransform (const std::string &target_frame, const std::string &source_frame, typename base_t::lightweight_pose_t &child_wrt_parent, const mrpt::system::TTimeStamp query_time=INVALID_TIMESTAMP, const double timeout_secs=.0) MRPT_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
typedef std::map< std::string, typename mrpt::aligned_containers< std::string, TF_TreeEdge >::map_t >	pose_tree_t

Protected Attributes
pose_tree_t	m_pose_edges_buffer

Member Typedef Documentation

base_t

template<int DIM>

typedef FrameTransformerInterface<DIM> mrpt::poses::FrameTransformer< DIM >::base_t

Definition at line 88 of file FrameTransformer.h.

lightweight_pose_t

template<int DIM>

typedef SE_traits<DIM>::lightweight_pose_t mrpt::poses::FrameTransformerInterface< DIM >::lightweight_pose_t

inherited

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

Definition at line 52 of file FrameTransformer.h.

pose_t

template<int DIM>

typedef SE_traits<DIM>::pose_t mrpt::poses::FrameTransformerInterface< DIM >::pose_t

inherited

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

Definition at line 51 of file FrameTransformer.h.

pose_tree_t

template<int DIM>

typedef std::map<std::string, typename mrpt::aligned_containers<std::string, TF_TreeEdge>::map_t> mrpt::poses::FrameTransformer< DIM >::pose_tree_t

protected

Definition at line 131 of file FrameTransformer.h.

Constructor & Destructor Documentation

FrameTransformer()

template<int DIM>

FrameTransformer::FrameTransformer

(

)

Definition at line 41 of file FrameTransformer.cpp.

~FrameTransformer()

template<int DIM>

FrameTransformer::~FrameTransformer

(

)

Definition at line 46 of file FrameTransformer.cpp.

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::lightweight_pose_t &  child_wrt_parent, const mrpt::system::TTimeStamp  query_time = INVALID_TIMESTAMP, const double  timeout_secs = .0  )

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.

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

Definition at line 65 of file FrameTransformer.cpp.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), and run_tf_test1().

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 99 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()  )

virtual

Definition at line 52 of file FrameTransformer.cpp.

Referenced by run_tf_test1().

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 132 of file FrameTransformer.h.