Wait for TF transformations for incoming messages. More...

#include <fkie_message_filters/tf_filter.h>

Inheritance diagram for fkie_message_filters::TfFilter< Inputs >:

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Collaboration diagram for fkie_message_filters::TfFilter< Inputs >:

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Public Types
using	FilterFailureCB = std::function< void(const Inputs &..., TfFilterResult)>
	Callback for failed transform queries.

using	Input = IO< Inputs... >
	Grouped input types. More...

using	Output = IO< Outputs... >
	Grouped output types. More...

Public Member Functions
	TfFilter () noexcept
	Empty constructor. More...

	TfFilter (tf2::BufferCore &bc, const std::string &target_frame, uint32_t queue_size, const ros::NodeHandle &nh) noexcept
	Construct and initialize the filter. More...

	TfFilter (tf2::BufferCore &bc, const std::string &target_frame, uint32_t queue_size, ros::CallbackQueueInterface *cbq) noexcept
	Construct and initialize the filter. More...

	TfFilter (tf2::BufferCore &bc, const ros::V_string &target_frames, uint32_t queue_size, const ros::NodeHandle &nh) noexcept
	Construct and initialize the filter. More...

	TfFilter (tf2::BufferCore &bc, const ros::V_string &target_frames, uint32_t queue_size, ros::CallbackQueueInterface *cbq) noexcept
	Construct and initialize the filter. More...

Connection	connect_to_sink (Sink< Outputs... > &dst) noexcept
	Connect this source to a sink. More...

Connection	connect_to_source (Source< Inputs... > &src) noexcept
	Connect this sink to a source. More...

void	disconnect_from_all_sinks () noexcept
	Disconnect from all connected sinks. More...

void	disconnect_from_all_sources () noexcept
	Disconnect from all connected sources. More...

void	init (tf2::BufferCore &bc, uint32_t queue_size, const ros::NodeHandle &nh) noexcept
	Initialize the filter. More...

void	init (tf2::BufferCore &bc, uint32_t queue_size, ros::CallbackQueueInterface *cbq) noexcept
	Initialize the filter. More...

void	reset () noexcept override
	Reset filter state. More...

void	set_filter_failure_function (FilterFailureCB cb)
	Register callback for failed transforms. More...

void	set_target_frame (const std::string &target_frame)
	Choose the TF target frame. More...

void	set_target_frames (const ros::V_string &target_frames)
	Choose the TF target frames. More...

Static Public Attributes
static constexpr std::size_t	NUM_INPUTS = sizeof...(Inputs)
	Number of input arguments.

static constexpr std::size_t	NUM_OUTPUTS
	Number of output arguments.

Protected Member Functions
void	receive (const Inputs &... in) override
	Process incoming data. More...

void	send (const Outputs &... out)
	Pass data to all connected sinks. More...

Detailed Description

template<class... Inputs>
class fkie_message_filters::TfFilter< Inputs >

Wait for TF transformations for incoming messages.

This filter is intended to be used with a Subscriber as source, and will delay incoming messages until they can be transformed to the specified TF target frames. If the filter input is not unary, only the first argument is examined, which must have an accessible ROS header as determined by the ros::message_traits template.

namespace mf = fkie_message_filters;
mf::Subscriber<M> sub;
mf::TfFilter<mf::Subscriber<M>::Output> flt;
ros::NodeHandle nh;
sub.subscribe(nh, "topic", 10);
flt.init(tf2_buffer, "target_frame", 10, nh);
mf::chain(sub, flt);

Member Typedef Documentation

◆ Input

template<typename... Inputs>

using fkie_message_filters::Sink< Inputs >::Input = IO<Inputs...>

inherited

Grouped input types.

This type can be used to define sources with matching types.

◆ Output

using fkie_message_filters::Source< Outputs >::Output = IO<Outputs...>

inherited

Grouped output types.

This type can be used to define sinks with matching types.

Constructor & Destructor Documentation

◆ TfFilter() [1/5]

template<class... Inputs>

fkie_message_filters::TfFilter< Inputs >::TfFilter ( )

inlinenoexcept

Empty constructor.

Constructs an uninitialized filter object. You need to call init() before you can use the object.

◆ TfFilter() [2/5]

template<class... Inputs>

fkie_message_filters::TfFilter< Inputs >::TfFilter	(	tf2::BufferCore &	bc,
		const std::string &	target_frame,
		uint32_t	queue_size,
		const ros::NodeHandle &	nh
	)

noexcept

Construct and initialize the filter.

The constructor calls init() and set_target_frame() for you.

bc a TF2 buffer instance
target_frame the TF target frame for the incoming messages
queue_size the maximum number of queued messages
nh the ROS node handle whose callback queue is used to pass transformable messages

Exceptions: Does not throw any exceptions.

◆ TfFilter() [3/5]

template<class... Inputs>

fkie_message_filters::TfFilter< Inputs >::TfFilter	(	tf2::BufferCore &	bc,
		const std::string &	target_frame,
		uint32_t	queue_size,
		ros::CallbackQueueInterface *	cbq
	)

noexcept

Construct and initialize the filter.

The constructor calls init() and set_target_frame() for you.

bc a TF2 buffer instance
target_frame the TF target frame for the incoming messages
queue_size the maximum number of queued messages
cbq the ROS callback queue that is used to pass transformable messages. If nullptr, the send() function is called directly from the TF2 buffer callback or receive() method.

Exceptions: Does not throw any exceptions.

◆ TfFilter() [4/5]

template<class... Inputs>

fkie_message_filters::TfFilter< Inputs >::TfFilter	(	tf2::BufferCore &	bc,
		const ros::V_string &	target_frames,
		uint32_t	queue_size,
		const ros::NodeHandle &	nh
	)

noexcept

Construct and initialize the filter.

The constructor calls init() and set_target_frames() for you.

bc a TF2 buffer instance
target_frames the TF target frames for the incoming messages. Passed message will be transformable to all these frames.
queue_size the maximum number of queued messages
nh the ROS node handle whose callback queue is used to pass transformable messages

Exceptions: Does not throw any exceptions.

◆ TfFilter() [5/5]

template<class... Inputs>

fkie_message_filters::TfFilter< Inputs >::TfFilter	(	tf2::BufferCore &	bc,
		const ros::V_string &	target_frames,
		uint32_t	queue_size,
		ros::CallbackQueueInterface *	cbq
	)

noexcept

Construct and initialize the filter.

The constructor calls init() and set_target_frames() for you.

bc a TF2 buffer instance
target_frames the TF target frames for the incoming messages. Passed message will be transformable to all these frames.
queue_size the maximum number of queued messages
cbq the ROS callback queue that is used to pass transformable messages. If nullptr, the send() function is called directly from the TF2 buffer callback or receive() method.

Exceptions: Does not throw any exceptions.

Member Function Documentation

◆ connect_to_sink()

Connection fkie_message_filters::Source< Outputs >::connect_to_sink ( Sink< Outputs... > & dst )

noexceptinherited

Connect this source to a sink.

Can be called multiple times to connect multiple sinks; in that case, the sinks receive data in the same order as they have been connected. This function does basically the same thing as Sink::connect_to_source(), only from the opposite point of view.

dst the sink that is to be connected

Returns: a connection object that can be used to monitor or sever the created connection

Exceptions: Does not throw any exceptions.

◆ connect_to_source()

template<typename... Inputs>

Connection fkie_message_filters::Sink< Inputs >::connect_to_source ( Source< Inputs... > & src )

noexceptinherited

Connect this sink to a source.

Can be called multiple times to connect multiple sources; in that case, the sink receives data from all connected sources. This function does basically the same thing as Source::connect_to_sink(), only from the opposite point of view.

src the source that is to be connected

Returns: a connection object that can be used to monitor or sever the created connection

Exceptions: Does not throw any exceptions.

◆ disconnect_from_all_sinks()

void fkie_message_filters::Source< Outputs >::disconnect_from_all_sinks ( )

noexceptinherited

Disconnect from all connected sinks.

Severs the connection to all sinks, turning the send() method into a no-op.

Exceptions: Does not throw any exceptions.

◆ disconnect_from_all_sources()

template<typename... Inputs>

void fkie_message_filters::Sink< Inputs >::disconnect_from_all_sources ( )

noexceptinherited

Disconnect from all connected sources.

Severs the connection to all sources. The receive() method will not be called any more.

Exceptions: Does not throw any exceptions.

◆ init() [1/2]

template<class... Inputs>

void fkie_message_filters::TfFilter< Inputs >::init	(	tf2::BufferCore &	bc,
		uint32_t	queue_size,
		const ros::NodeHandle &	nh
	)

noexcept

Initialize the filter.

This function allocates internal data structures and makes the filter operational. If the function is called on an already initialized filter, the filter is reinitialized and reset() is called implicitly.

bc a TF2 buffer instance
queue_size the maximum number of queued messages
nh the ROS node handle whose callback queue is used to pass transformable messages

Exceptions: Does not throw any exceptions.

◆ init() [2/2]

template<class... Inputs>

void fkie_message_filters::TfFilter< Inputs >::init	(	tf2::BufferCore &	bc,
		uint32_t	queue_size,
		ros::CallbackQueueInterface *	cbq
	)

noexcept

Initialize the filter.

This function allocates internal data structures and makes the filter operational. If the function is called on an already initialized filter, the filter is reinitialized and reset() is called implicitly.

bc a TF2 buffer instance
queue_size the maximum number of queued messages
cbq the ROS callback queue that is used to pass transformable messages. If nullptr, the send() function is called directly from the TF2 buffer callback or receive() method.

Exceptions: Does not throw any exceptions.

◆ receive()

template<class... Inputs>

void fkie_message_filters::TfFilter< Inputs >::receive ( const Inputs &... in )

overrideprotectedvirtual

Process incoming data.

Derived classes need to override this method to handle all data that is to be consumed by the sink.

Exceptions: Depends on the implementation.

Implements fkie_message_filters::Sink< Inputs >.

◆ reset()

template<class... Inputs>

void fkie_message_filters::TfFilter< Inputs >::reset ( )

overridevirtualnoexcept

Reset filter state.

Discards all queued messages. Existing connections to sources and sinks are unaffected.

Exceptions: Does not throw any exceptions.

Reimplemented from fkie_message_filters::FilterBase.

◆ send()

void fkie_message_filters::Source< Outputs >::send ( const Outputs &... out )

protectedinherited

Pass data to all connected sinks.

out data

Exceptions: Does not throw any exceptions, but will propagate uncaught exceptions from filter callbacks.

◆ set_filter_failure_function()

template<class... Inputs>

void fkie_message_filters::TfFilter< Inputs >::set_filter_failure_function ( FilterFailureCB cb )

Register callback for failed transforms.

Whenever a message is discarded, this callback is called with the message and the reason why the TF transform failed.

cb callback function

Exceptions

std::logic_error if the filter is uninitialized

◆ set_target_frame()

template<class... Inputs>

void fkie_message_filters::TfFilter< Inputs >::set_target_frame ( const std::string & target_frame )

Choose the TF target frame.

target_frame all passed messages will be transformable to this TF frame

Exceptions

std::logic_error if the filter is uninitialized

◆ set_target_frames()

template<class... Inputs>

void fkie_message_filters::TfFilter< Inputs >::set_target_frames ( const ros::V_string & target_frames )

Choose the TF target frames.

target_frames all passed messages will be transformable to all these TF frames

Exceptions

std::logic_error if the filter is uninitialized

The documentation for this class was generated from the following file:

include/fkie_message_filters/tf_filter.h

Public Types

Public Member Functions

Static Public Attributes

Protected Member Functions

Detailed Description

template<class... Inputs> class fkie_message_filters::TfFilter< Inputs >

Member Typedef Documentation

◆ Input

◆ Output

Constructor & Destructor Documentation

◆ TfFilter() [1/5]

◆ TfFilter() [2/5]

◆ TfFilter() [3/5]

◆ TfFilter() [4/5]

◆ TfFilter() [5/5]

Member Function Documentation

◆ connect_to_sink()

◆ connect_to_source()

◆ disconnect_from_all_sinks()

◆ disconnect_from_all_sources()

◆ init() [1/2]

◆ init() [2/2]

◆ receive()

◆ reset()

◆ send()

◆ set_filter_failure_function()

◆ set_target_frame()

◆ set_target_frames()

template<class... Inputs>
class fkie_message_filters::TfFilter< Inputs >