transformer::Transformation Class Reference

#include <Transformer.hpp>

Public Member Functions
TransformationStatus	getStatus () const
void	updateStatus (TransformationStatus &status) const
const std::string &	getSourceFrame () const
const std::string &	getTargetFrame () const
void	reset ()
void	registerUpdateCallback (boost::function< void(const base::Time &ts)> callback)
bool	get (const base::Time &atTime, transformer::TransformationType &result, bool interpolate=false) const
bool	getChain (const base::Time &atTime, std::vector< TransformationType > &result, bool interpolate=false) const
template<class T >
bool	get (const base::Time &atTime, T &result, bool interpolate=false) const
bool	getChain (const base::Time &atTime, std::vector< Eigen::Affine3d > &result, bool interpolate=false) const

Friends
class	Transformer

Member Function Documentation

get() [1/2]

bool transformer::Transformation::get	(	const base::Time &	atTime,
		transformer::TransformationType &	result,
		bool	interpolate = false
	)		const

This functions tries to return the transformation from sourceFrame to targetFrame at the given time.

If no chain, or no transformation samples are available the function will return false Else it will return true and store the requested transformation in

Parameters

result

get() [2/2]

template<class T >

bool transformer::Transformation::get	(	const base::Time &	atTime,
		T &	result,
		bool	interpolate = false
	)		const

getChain() [1/2]

bool transformer::Transformation::getChain	(	const base::Time &	atTime,
		std::vector< TransformationType > &	result,
		bool	interpolate = false
	)		const

getChain() [2/2]

bool transformer::Transformation::getChain	(	const base::Time &	atTime,
		std::vector< Eigen::Affine3d > &	result,
		bool	interpolate = false
	)		const

getSourceFrame()

const std::string& transformer::Transformation::getSourceFrame ( ) const

inline

returns the souce frame

getStatus()

TransformationStatus transformer::Transformation::getStatus

(

)

const

Updates the data contained in the provided status structure with the transformation's internal information

getTargetFrame()

const std::string& transformer::Transformation::getTargetFrame ( ) const

inline

returns the target frame

registerUpdateCallback()

void transformer::Transformation::registerUpdateCallback

(

boost::function< void(const base::Time &ts)>

callback

)

Registeres a callback (only one) callback, that is called, whenever this transformation changes.

reset()

void transformer::Transformation::reset ( )

inline

Clears all stored information and marks the transformation as invalid

updateStatus()

void transformer::Transformation::updateStatus

(

TransformationStatus &

status

)

const

Updates the data contained in the provided status structure with the transformation's internal information

Friends And Related Function Documentation

Transformer

friend class Transformer

friend

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

• /build/rock-master-18.09-drivers-transformer-0.20160907/src/Transformer.hpp
• /build/rock-master-18.09-drivers-transformer-0.20160907/src/Transformer.cpp