apollo::transform::BufferInterface类 参考

#include <buffer_interface.h>

类 apollo::transform::BufferInterface 继承关系图:

apollo::transform::BufferInterface 的协作图:

Public 成员函数
virtual TransformStamped	lookupTransform (const std::string &target_frame, const std::string &source_frame, const cyber::Time &time, const float timeout_second=0.01f) const =0
	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 =0
	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 &time, const float timeout_second=0.01f, std::string *errstr=nullptr) const =0
	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 =0
	Test if a transform is possible
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

详细描述

在文件 buffer_interface.h 第 28 行定义.

成员函数说明

canTransform() [1/2]

virtual bool apollo::transform::BufferInterface::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

pure virtual

Test if a transform is possible

参数

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

返回

True if the transform is possible, false otherwise

在 apollo::transform::Buffer 内被实现.

canTransform() [2/2]

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

pure virtual

Test if a transform is possible

参数

target_frame	The frame into which to transform
source_frame	The frame from which to transform
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

返回

True if the transform is possible, false otherwise

在 apollo::transform::Buffer 内被实现.

lookupTransform() [1/2]

virtual TransformStamped apollo::transform::BufferInterface::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

pure virtual

Get the transform between two frames by frame ID assuming fixed frame.

参数

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

返回

The transform between the frames

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

在 apollo::transform::Buffer 内被实现.

lookupTransform() [2/2]

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

pure virtual

Get the transform between two frames by frame ID.

参数

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

返回

The transform between the frames

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

在 apollo::transform::Buffer 内被实现.

transform() [1/6]

template<typename A , typename B >

B & apollo::transform::BufferInterface::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

inline

在文件 buffer_interface.h 第 154 行定义.

                                           {
    // do the transform
    A copy = transform(in, target_frame, target_time, fixed_frame, timeout);
    tf2::convert(copy, out);
    return out;
  }

transform() [2/6]

template<typename A , typename B >

B & apollo::transform::BufferInterface::transform ( const A &  in, B &  out, const std::string &  target_frame, float  timeout = 0.0f  ) const

inline

在文件 buffer_interface.h 第 123 行定义.

                                           {
    A copy = transform(in, target_frame, timeout);
    tf2::convert(copy, out);
    return out;
  }

transform() [3/6]

template<typename T >

T apollo::transform::BufferInterface::transform ( const T &  in, const std::string &  target_frame, const cyber::Time &  target_time, const std::string &  fixed_frame, float  timeout = 0.0f  ) const

inline

在文件 buffer_interface.h 第 145 行定义.

                                          {
    T out;
    return transform(in, out, target_frame, target_time, fixed_frame, timeout);
  }

transform() [4/6]

template<typename T >

T apollo::transform::BufferInterface::transform ( const T &  in, const std::string &  target_frame, float  timeout = 0.0f  ) const

inline

在文件 buffer_interface.h 第 115 行定义.

                                          {
    T out;
    return transform(in, out, target_frame, timeout);
  }

transform() [5/6]

template<typename T >

T & apollo::transform::BufferInterface::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

inline

在文件 buffer_interface.h 第 132 行定义.

                                           {
    // do the transform
    tf2::doTransform(
        in, out,
        lookupTransform(target_frame, target_time, tf2::getFrameId(in),
                        tf2::getTimestamp(in), fixed_frame, timeout));
    return out;
  }

transform() [6/6]

template<typename T >

T & apollo::transform::BufferInterface::transform ( const T &  in, T &  out, const std::string &  target_frame, float  timeout = 0.0f  ) const

inline

在文件 buffer_interface.h 第 104 行定义.

                                           {
    // do the transform
    tf2::doTransform(in, out,
                     lookupTransform(target_frame, tf2::getFrameId(in),
                                     tf2::getTimestamp(in), timeout));
    return out;
  }

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该类的文档由以下文件生成:

• modules/transform/buffer_interface.h