#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

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

template<class T >

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

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

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

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

inline

returns the souce frame

TransformationStatus transformer::Transformation::getStatus ( ) const

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

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

inline

returns the target frame

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.

void transformer::Transformation::reset ( )

inline

Clears all stored information and marks the transformation as invalid

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

friend class Transformer

friend

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

Public Member Functions

Friends

Member Function Documentation

Friends And Related Function Documentation