/usr/include/tf/tf.h is in libtf-dev 1.11.8-4.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 | /*
* Copyright (c) 2008, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
/** \author Tully Foote */
#ifndef TF_TF_H
#define TF_TF_H
#include <iostream>
#include <iomanip>
#include <cmath>
#include <vector>
#include <sstream>
#include <map>
#include <tf/exceptions.h>
#include "tf/time_cache.h"
#include <boost/unordered_map.hpp>
#include <boost/signals2.hpp>
#include "geometry_msgs/TwistStamped.h"
#include <tf2_ros/buffer.h>
namespace tf
{
/** \brief resolve tf names */
std::string resolve(const std::string& prefix, const std::string& frame_name);
/** strip a leading slash for */
std::string strip_leading_slash(const std::string& frame_name);
/** \deprecated This has been renamed to tf::resolve */
__attribute__((deprecated)) static inline std::string remap(const std::string& prefix, const std::string& frame_name) { return tf::resolve(prefix, frame_name);} ;
enum ErrorValues { NO_ERROR = 0, LOOKUP_ERROR, CONNECTIVITY_ERROR, EXTRAPOLATION_ERROR};
/** \brief An internal representation of transform chains
*
* This struct is how the list of transforms are stored before being passed to computeTransformFromList. */
typedef struct
{
std::vector<TransformStorage > inverseTransforms;
std::vector<TransformStorage > forwardTransforms;
} TransformLists;
/** \brief A Class which provides coordinate transforms between any two frames in a system.
*
* This class provides a simple interface to allow recording and lookup of
* relationships between arbitrary frames of the system.
*
* libTF assumes that there is a tree of coordinate frame transforms which define the relationship between all coordinate frames.
* For example your typical robot would have a transform from global to real world. And then from base to hand, and from base to head.
* But Base to Hand really is composed of base to shoulder to elbow to wrist to hand.
* libTF is designed to take care of all the intermediate steps for you.
*
* Internal Representation
* libTF will store frames with the parameters necessary for generating the transform into that frame from it's parent and a reference to the parent frame.
* Frames are designated using an std::string
* 0 is a frame without a parent (the top of a tree)
* The positions of frames over time must be pushed in.
*
* All function calls which pass frame ids can potentially throw the exception tf::LookupException
*/
class Transformer
{
public:
/************* Constants ***********************/
static const unsigned int MAX_GRAPH_DEPTH = 100UL; //!< The maximum number of time to recurse before assuming the tree has a loop.
static const double DEFAULT_CACHE_TIME; //!< 10.0 is the default amount of time to cache data in seconds, set in cpp file.
static const int64_t DEFAULT_MAX_EXTRAPOLATION_DISTANCE = 0ULL; //!< The default amount of time to extrapolate //deprecated since integration with tf2
/** Constructor
* \param interpolating Unused, legacy always true
* \param cache_time How long to keep a history of transforms in nanoseconds
*
*/
Transformer(bool interpolating = true,
ros::Duration cache_time_ = ros::Duration(DEFAULT_CACHE_TIME));
virtual ~Transformer(void);
/** \brief Clear all data */
void clear();
/** \brief Add transform information to the tf data structure
* \param transform The transform to store
* \param authority The source of the information for this transform
* returns true unless an error occured
*/
bool setTransform(const StampedTransform& transform, const std::string & authority = "default_authority");
/*********** Accessors *************/
/** \brief Get the transform between two frames by frame ID.
* \param target_frame The frame to which data should be transformed
* \param source_frame The frame where the data originated
* \param time The time at which the value of the transform is desired. (0 will get the latest)
* \param transform The transform reference to fill.
*
* Possible exceptions tf::LookupException, tf::ConnectivityException,
* tf::MaxDepthException, tf::ExtrapolationException
*/
void lookupTransform(const std::string& target_frame, const std::string& source_frame,
const ros::Time& time, StampedTransform& transform) const;
/** \brief Get the transform between two frames by frame ID assuming fixed frame.
* \param target_frame The frame to which data should be transformed
* \param target_time The time to which the data should be transformed. (0 will get the latest)
* \param source_frame The frame where the data originated
* \param source_time The time at which the source_frame should be evaluated. (0 will get the latest)
* \param fixed_frame The frame in which to assume the transform is constant in time.
* \param transform The transform reference to fill.
*
* Possible exceptions tf::LookupException, tf::ConnectivityException,
* tf::MaxDepthException, tf::ExtrapolationException
*/
void lookupTransform(const std::string& target_frame, const ros::Time& target_time,
const std::string& source_frame, const ros::Time& source_time,
const std::string& fixed_frame, StampedTransform& transform) const;
/** \brief Lookup the twist of the tracking_frame with respect to the observation frame in the reference_frame using the reference point
* \param tracking_frame The frame to track
* \param observation_frame The frame from which to measure the twist
* \param reference_frame The reference frame in which to express the twist
* \param reference_point The reference point with which to express the twist
* \param reference_point_frame The frame_id in which the reference point is expressed
* \param time The time at which to get the velocity
* \param duration The period over which to average
* \param twist The twist output
*
* This will compute the average velocity on the interval
* (time - duration/2, time+duration/2). If that is too close to the most
* recent reading, in which case it will shift the interval up to
* duration/2 to prevent extrapolation. Possible exceptions
* tf::LookupException, tf::ConnectivityException,
* tf::MaxDepthException, tf::ExtrapolationException
*
* New in geometry 1.1
*/
void lookupTwist(const std::string& tracking_frame, const std::string& observation_frame, const std::string& reference_frame,
const tf::Point & reference_point, const std::string& reference_point_frame,
const ros::Time& time, const ros::Duration& averaging_interval,
geometry_msgs::Twist& twist) const;
/** \brief lookup the twist of the tracking frame with respect to the observational frame
*
* This is a simplified version of
* lookupTwist with it assumed that the reference point is the
* origin of the tracking frame, and the reference frame is the
* observation frame.
*
* New in geometry 1.1
*/
void lookupTwist(const std::string& tracking_frame, const std::string& observation_frame,
const ros::Time& time, const ros::Duration& averaging_interval,
geometry_msgs::Twist& twist) const;
/** \brief Block until a transform is possible or it times out
* \param target_frame The frame into which to transform
* \param source_frame The frame from which to transform
* \param time The time at which to transform
* \param timeout How long to block before failing
* \param polling_sleep_duration How often to retest if failed
* \param error_msg A pointer to a string which will be filled with why the transform failed, if not NULL
*/
bool waitForTransform(const std::string& target_frame, const std::string& source_frame,
const ros::Time& time, const ros::Duration& timeout, const ros::Duration& polling_sleep_duration = ros::Duration(0.01),
std::string* error_msg = NULL) const;
/** \brief Test if a transform is possible
* \param target_frame The frame into which to transform
* \param source_frame The frame from which to transform
* \param time The time at which to transform
* \param error_msg A pointer to a string which will be filled with why the transform failed, if not NULL
*/
bool canTransform(const std::string& target_frame, const std::string& source_frame,
const ros::Time& time,
std::string* error_msg = NULL) const;
/** \brief Test if a transform is possible
* \param target_frame The frame into which to transform
* \param target_time The time into which to transform
* \param source_frame The frame from which to transform
* \param source_time The time from which to transform
* \param fixed_frame The frame in which to treat the transform as constant in time
* \param error_msg A pointer to a string which will be filled with why the transform failed, if not NULL
*/
bool canTransform(const std::string& target_frame, const ros::Time& target_time,
const std::string& source_frame, const ros::Time& source_time,
const std::string& fixed_frame,
std::string* error_msg = NULL) const;
/** \brief Block until a transform is possible or it times out
* \param target_frame The frame into which to transform
* \param target_time The time into which to transform
* \param source_frame The frame from which to transform
* \param source_time The time from which to transform
* \param fixed_frame The frame in which to treat the transform as constant in time
* \param timeout How long to block before failing
* \param polling_sleep_duration How often to retest if failed
* \param error_msg A pointer to a string which will be filled with why the transform failed, if not NULL
*/
bool waitForTransform(const std::string& target_frame, const ros::Time& target_time,
const std::string& source_frame, const ros::Time& source_time,
const std::string& fixed_frame,
const ros::Duration& timeout, const ros::Duration& polling_sleep_duration = ros::Duration(0.01),
std::string* error_msg = NULL) const;
/**@brief Return the latest rostime which is common across the spanning set
* zero if fails to cross */
int getLatestCommonTime(const std::string &source_frame, const std::string &target_frame, ros::Time& time, std::string* error_string) const;
/** \brief Transform a Stamped Quaternion into the target frame
* This can throw anything a lookupTransform can throw as well as tf::InvalidArgument. */
void transformQuaternion(const std::string& target_frame, const Stamped<tf::Quaternion>& stamped_in, Stamped<tf::Quaternion>& stamped_out) const;
/** \brief Transform a Stamped Vector3 into the target frame
* This can throw anything a lookupTransform can throw as well as tf::InvalidArgument.*/
void transformVector(const std::string& target_frame, const Stamped<tf::Vector3>& stamped_in, Stamped<tf::Vector3>& stamped_out) const;
/** \brief Transform a Stamped Point into the target frame
* This can throw anything a lookupTransform can throw as well as tf::InvalidArgument.*/
void transformPoint(const std::string& target_frame, const Stamped<tf::Point>& stamped_in, Stamped<tf::Point>& stamped_out) const;
/** \brief Transform a Stamped Pose into the target frame
* This can throw anything a lookupTransform can throw as well as tf::InvalidArgument.*/
void transformPose(const std::string& target_frame, const Stamped<tf::Pose>& stamped_in, Stamped<tf::Pose>& stamped_out) const;
/** \brief Transform a Stamped Quaternion into the target frame
* This can throw anything a lookupTransform can throw as well as tf::InvalidArgument.*/
void transformQuaternion(const std::string& target_frame, const ros::Time& target_time,
const Stamped<tf::Quaternion>& stamped_in,
const std::string& fixed_frame,
Stamped<tf::Quaternion>& stamped_out) const;
/** \brief Transform a Stamped Vector3 into the target frame
* This can throw anything a lookupTransform can throw as well as tf::InvalidArgument.*/
void transformVector(const std::string& target_frame, const ros::Time& target_time,
const Stamped<tf::Vector3>& stamped_in,
const std::string& fixed_frame,
Stamped<tf::Vector3>& stamped_out) const;
/** \brief Transform a Stamped Point into the target frame
* This can throw anything a lookupTransform can throw as well as tf::InvalidArgument.*/
void transformPoint(const std::string& target_frame, const ros::Time& target_time,
const Stamped<tf::Point>& stamped_in,
const std::string& fixed_frame,
Stamped<tf::Point>& stamped_out) const;
/** \brief Transform a Stamped Pose into the target frame
* This can throw anything a lookupTransform can throw as well as tf::InvalidArgument.*/
void transformPose(const std::string& target_frame, const ros::Time& target_time,
const Stamped<tf::Pose>& stamped_in,
const std::string& fixed_frame,
Stamped<tf::Pose>& stamped_out) const;
/** \brief Debugging function that will print the spanning chain of transforms.
* Possible exceptions tf::LookupException, tf::ConnectivityException,
* tf::MaxDepthException
*/
//std::string chainAsString(const std::string & target_frame, ros::Time target_time, const std::string & source_frame, ros::Time source_time, const std::string & fixed_frame) const;
/** \brief Debugging function that will print the spanning chain of transforms.
* Possible exceptions tf::LookupException, tf::ConnectivityException,
* tf::MaxDepthException
*/
void chainAsVector(const std::string & target_frame, ros::Time target_time, const std::string & source_frame, ros::Time source_time, const std::string & fixed_frame, std::vector<std::string>& output) const;
/** \brief A way to see what frames have been cached
* Useful for debugging
*/
std::string allFramesAsString() const;
/** \brief A way to see what frames have been cached
* Useful for debugging
*/
std::string allFramesAsDot(double current_time = 0) const;
/** \brief A way to get a std::vector of available frame ids */
void getFrameStrings(std::vector<std::string>& ids) const;
/**@brief Fill the parent of a frame.
* @param frame_id The frame id of the frame in question
* @param parent The reference to the string to fill the parent
* Returns true unless "NO_PARENT" */
bool getParent(const std::string& frame_id, ros::Time time, std::string& parent) const;
/**@brief Check if a frame exists in the tree
* @param frame_id_str The frame id in question */
bool frameExists(const std::string& frame_id_str) const;
/**@brief Set the distance which tf is allow to extrapolate
* \param distance How far to extrapolate before throwing an exception
* default is zero */
void setExtrapolationLimit(const ros::Duration& distance);
/**@brief Get the duration over which this transformer will cache */
ros::Duration getCacheLength() { return tf2_buffer_.getCacheLength();}
/**
* \brief Add a callback that happens when a new transform has arrived
*
* \param callback The callback, of the form void func();
* \return A boost::signals2::connection object that can be used to remove this
* listener
*/
boost::signals2::connection addTransformsChangedListener(boost::function<void(void)> callback);
void removeTransformsChangedListener(boost::signals2::connection c);
/**
* \brief Get the tf_prefix this is running with
*/
std::string getTFPrefix() const { return tf_prefix_;};
//Declare that it is safe to call waitForTransform
void setUsingDedicatedThread(bool value) { tf2_buffer_.setUsingDedicatedThread(value);};
// Get the state of using_dedicated_thread_ from the buffer
bool isUsingDedicatedThread() { return tf2_buffer_.isUsingDedicatedThread();};
protected:
/** \brief The internal storage class for ReferenceTransform.
*
* An instance of this class is created for each frame in the system.
* This class natively handles the relationship between frames.
*
* The derived class Pose3DCache provides a buffered history of positions
* with interpolation.
*
*/
/******************** Internal Storage ****************/
/// transform prefix to apply as necessary
std::string tf_prefix_;
public:
// A flag to allow falling back to wall time
bool fall_back_to_wall_time_;
protected:
/** Hack method to work around #4150 */
ros::Time now() const {
if (!fall_back_to_wall_time_)
return ros::Time::now() ;
else {
ros::WallTime wt = ros::WallTime::now();
return ros::Time(wt.sec, wt.nsec);
};
}
// Allows broadcaster to check ok() before wait for transform
// Always returns true in base class
virtual bool ok() const;
/************************* Internal Functions ****************************/
protected:
tf2_ros::Buffer tf2_buffer_;
};
/** \brief Throw InvalidArgument if quaternion is malformed */
inline void assertQuaternionValid(const tf::Quaternion & q)
{
if(std::isnan(q.x()) || std::isnan(q.y()) || std::isnan(q.z()) || std::isnan(q.w()))
{
std::stringstream ss;
ss << "Quaternion contains a NaN" << std::endl;
throw tf::InvalidArgument(ss.str());
}
if(std::fabs(q.x()*q.x() + q.y()*q.y() + q.z()*q.z() + q.w()*q.w() - 1) > 0.01)
{
std::stringstream ss;
ss << "Quaternion malformed, magnitude: " << q.x()*q.x() + q.y()*q.y() + q.z()*q.z() + q.w()*q.w() << " should be 1.0" <<std::endl;
throw tf::InvalidArgument(ss.str());
} // ROS_ASSERT(std::fabs(q.x()*q.x() + q.y()*q.y() + q.z*q.z() + q.w()*q.w() - 1 < 0.01));
};
/** \brief Throw InvalidArgument if quaternion is malformed */
inline void assertQuaternionValid(const geometry_msgs::Quaternion & q)
{
if(std::isnan(q.x) || std::isnan(q.y) || std::isnan(q.z) || std::isnan(q.w))
{
std::stringstream ss;
ss << "Quaternion contains a NaN" << std::endl;
throw tf::InvalidArgument(ss.str());
}
if(std::fabs(q.x*q.x + q.y*q.y + q.z*q.z + q.w*q.w - 1) > 0.01)
{
std::stringstream ss;
ss << "Quaternion malformed, magnitude: " << q.x*q.x + q.y*q.y + q.z*q.z + q.w*q.w << " should be 1.0" <<std::endl;
throw tf::InvalidArgument(ss.str());
} // ROS_ASSERT(std::fabs(q.x()*q.x() + q.y()*q.y() + q.z*q.z() + q.w()*q.w() - 1 < 0.01));
};
}
#endif //TF_TF_H
|