ark::TransformNetworkSubscriber

Defined in header “ark/geometry/stages/transform_network_subscriber.hh”.

Helper class to make setting up a transform network listener in an ark stage.

Typedefs

  • using TransformReadyCallbackHandle = uint64_t

  • using TransformReadyCallback = std::function< void(TransformMessage3dStamped transform)>

  • using TransformNetworkError = TransformNetwork::TransformNetworkError

  • using GetTransformResult = tl::expected< Transform3d, TransformNetworkError >

  • using GetTransformStampedResult = tl::expected< TransformMessage3dStamped, TransformNetworkError >

Methods

  • TransformNetworkSubscriber(const TransformNetworkConfig & network_config, TransformNetworkSubscriberConfig subscriber_config)

  • void reset()

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

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

  • GetTransformResult get_latest_transform(const std::string & dst, const std::string & src)

  • GetTransformStampedResult get_latest_transform_stamped(const std::string & dst, const std::string & src)

  • void initialize(CommsInterface & interface)

  • TransformReadyCallbackHandle add_callback(std::string dst, std::string src, std::chrono::steady_clock::time_point stamp, TransformReadyCallback callback)

  • void cancel_callback(TransformReadyCallbackHandle handle)

  • std::vector< std::string > get_all_frames()

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

  • void handle_transforms(bool is_static, const std::shared_ptr< const TransformMessages3dStamped > & transforms)