52 #ifndef __LIBS_TF_TRANSFORMER_H_ 53 #define __LIBS_TF_TRANSFORMER_H_ 55 #include <tf/buffer_core.h> 65 class TimeCacheInterface;
66 typedef std::shared_ptr<TimeCacheInterface> TimeCacheInterfacePtr;
82 bool frame_exists(
const std::string& frame_id_str)
const;
83 TimeCacheInterfacePtr
get_frame_cache(
const std::string& frame_id)
const;
88 const std::string& source_frame,
94 const std::string& source_frame,
96 const std::string& fixed_frame,
100 const std::string& source_frame,
103 bool can_transform(
const std::string& target_frame,
const std::string& source_frame,
104 const fawkes::Time& time, std::string* error_msg = NULL)
const;
107 const std::string& source_frame,
const fawkes::Time& source_time,
108 const std::string& fixed_frame, std::string* error_msg = NULL)
const;
122 const std::string& target_frame,
128 const std::string& fixed_frame,
132 const std::string& fixed_frame,
136 const std::string& fixed_frame,
140 const std::string& fixed_frame,
Fawkes library namespace.
A class for handling time.
A Class which provides coordinate transforms between any two frames in a system.
Wrapper class to add time stamp and frame ID to base types.
static const int DEFAULT_CACHE_TIME
The default amount of time to cache data in seconds.