ark::TransformNetwork

Defined in header “ark/geometry/transform_network.hh”.

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Typedefs

• using TransformNetworkError = std::string

• using CanTransformResult = tl::expected< void, TransformNetworkError >

Methods

• TransformNetwork(const TransformNetworkConfig & config)

• ~TransformNetwork()

• void reset()
  Reset the internal network state, clearing all link information.

• bool set_transform(const std::chrono::steady_clock::time_point & ts, const std::string & dst, const std::string & src, const Transform3d & dst_from_src, const std::string & authority, bool is_static)
  Set the transform.

• CanTransformResult can_transform(const std::string & dst, const std::string & src, const std::chrono::steady_clock::time_point & ts)
  Return true of the transform dst_from_src at time ts.

• Transform3d get_transform(const std::string & dst, const std::string & src, const std::chrono::steady_clock::time_point & ts)

• TransformMessage3dStamped get_transform_stamped(const std::string & dst, const std::string & src, const std::chrono::steady_clock::time_point & ts)

• CanTransformResult can_transform(const std::string & dst, const std::chrono::steady_clock::time_point & dst_time, const std::string & src, const std::chrono::steady_clock::time_point & src_time, const std::string & fixed_frame)
  Return the trasnform dst_from_src transforming data from the src frame at time src_time to the dst frame at time dst_time.

• Transform3d get_transform(const std::string & dst, const std::chrono::steady_clock::time_point & dst_time, const std::string & src, const std::chrono::steady_clock::time_point & src_time, const std::string & fixed_frame)

• std::vector< std::string > get_all_frames()
  Get a list of all frames in the network.

• std::optional< std::string > get_parent(const std::string & frame_id)