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

Constructors

Constructor and Description
FrameTransformTree()

Method Summary

Methods

Modifier and Type	Method and Description
FrameTransform	get(java.lang.String source)
FrameTransform	get(java.lang.String source, org.ros.message.Time time)
FrameTransform	lookUp(FrameName source) Returns the most recent FrameTransform for target source.
FrameTransform	lookUp(FrameName source, org.ros.message.Time time) Returns the FrameTransform for source closest to time.
FrameTransform	transform(FrameName source, FrameName target)
FrameTransform	transform(java.lang.String source, java.lang.String target)
void	update(geometry_msgs.TransformStamped transformStamped) Updates the tree with the provided TransformStamped message.

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

update

public void update(geometry_msgs.TransformStamped transformStamped)

Updates the tree with the provided TransformStamped message.

Note that the tree is updated lazily. Modifications to the provided TransformStamped message may cause unpredictable results.

Parameters:

transformStamped - the TransformStamped message to update with

lookUp

public FrameTransform lookUp(FrameName source)

Returns the most recent FrameTransform for target source.

Parameters:

source - the frame to look up

Returns:

the most recent FrameTransform for source or null if no transform for source is available

get

public FrameTransform get(java.lang.String source)

See Also:

lookUp(FrameName)

lookUp

public FrameTransform lookUp(FrameName source,
                    org.ros.message.Time time)

Returns the FrameTransform for source closest to time.

Parameters:

source - the frame to look up

time - the transform for frame closest to this Time will be returned

Returns:

the most recent FrameTransform for source or null if no transform for source is available

get

public FrameTransform get(java.lang.String source,
                 org.ros.message.Time time)

See Also:

lookUp(FrameName, Time)

transform

public FrameTransform transform(FrameName source,
                       FrameName target)

Returns:

the FrameTransform from source the frame to the target frame, or null if no FrameTransform could be found

transform

public FrameTransform transform(java.lang.String source,
                       java.lang.String target)

See Also:

transform(FrameName, FrameName)