org.ros.rosjava_geometry
Class FrameTransformTree

java.lang.Object
  org.ros.rosjava_geometry.FrameTransformTree

public class FrameTransformTree
extends java.lang.Object

A tree of FrameTransforms.

FrameTransformTree does not currently support time travel. Lookups always use the newest TransformStamped.

Constructor Summary

FrameTransformTree()

Method Summary

boolean	canTransform(GraphName sourceFrame, GraphName targetFrame)
FrameTransform	newFrameTransform(GraphName sourceFrame, GraphName targetFrame)
void	setPrefix(GraphName prefix)
void	setPrefix(java.lang.String prefix)
void	updateTransform(geometry_msgs.TransformStamped transform) Adds a transform.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

FrameTransformTree

public FrameTransformTree()

Method Detail

updateTransform

public void updateTransform(geometry_msgs.TransformStamped transform)

Adds a transform.

Parameters:

transform - the transform to add

canTransform

public boolean canTransform(GraphName sourceFrame,
                            GraphName targetFrame)

Parameters:

sourceFrame - the source frame

targetFrame - the target frame

Returns:

true if there exists a FrameTransform from sourceFrame to targetFrame, false otherwise

newFrameTransform

public FrameTransform newFrameTransform(GraphName sourceFrame,
                                        GraphName targetFrame)

Returns:

the FrameTransform from source the frame to the target frame

setPrefix

public void setPrefix(GraphName prefix)

setPrefix

public void setPrefix(java.lang.String prefix)