Apollo 10.0
自动驾驶开放平台
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#include <buffer.h>
Public 成员函数 | |
int | Init () |
Constructor for a Buffer object | |
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. | |
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. | |
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 | |
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 | |
bool | GetLatestStaticTF (const std::string &frame_id, const std::string &child_frame_id, TransformStamped *tf) |
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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 |
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virtual |
Test if a transform is possible
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 |
实现了 apollo::transform::BufferInterface.
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virtual |
Test if a transform is possible
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 |
实现了 apollo::transform::BufferInterface.
bool apollo::transform::Buffer::GetLatestStaticTF | ( | const std::string & | frame_id, |
const std::string & | child_frame_id, | ||
TransformStamped * | tf | ||
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int apollo::transform::Buffer::Init | ( | ) |
Constructor for a Buffer object
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 |
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virtual |
Get the transform between two frames by frame ID assuming fixed frame.
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 |
Possible exceptions tf2::LookupException, tf2::ConnectivityException, tf2::ExtrapolationException, tf2::InvalidArgumentException
实现了 apollo::transform::BufferInterface.
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virtual |
Get the transform between two frames by frame ID.
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 |
Possible exceptions tf2::LookupException, tf2::ConnectivityException, tf2::ExtrapolationException, tf2::InvalidArgumentException
实现了 apollo::transform::BufferInterface.