Package edu.tufts.hrilab.diarcros.tf

Class TF

java.lang.Object

edu.tufts.hrilab.diarcros.tf.TF

public class TF
extends Object

Constructor Summary

Constructors

Constructor	Description
TF()
TF(RosConfiguration rc)

Method Summary

Modifier and Type	Method	Description
void	addLocalStaticTransform(String frame_id, String child_frame_id, edu.tufts.hrilab.diarcros.msg.geometry_msgs.Vector3 translation, edu.tufts.hrilab.diarcros.msg.geometry_msgs.Quaternion rotation)
javax.vecmath.Matrix4d	getTransform(String sourceFrame, String targetFrame)	This transform returned is to transform a pose in the refLink coordinate frame to a pose in the targetLink coordinate frame.
edu.tufts.hrilab.diarcros.msg.geometry_msgs.TransformStamped	getTransform(List<edu.tufts.hrilab.diarcros.msg.geometry_msgs.TransformStamped> transforms, String link)
Set<String>	getTransformNames()
boolean	isReady()	Is node connected and ready.
void	printTransformTree()
void	waitForNode()	Wait for node to be connected and ready.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

TF

public TF(RosConfiguration rc)

TF

public TF()

Method Details

waitForNode

public void waitForNode()

Wait for node to be connected and ready.

isReady

public boolean isReady()

Is node connected and ready.

Returns:

addLocalStaticTransform

public void addLocalStaticTransform(String frame_id,
 String child_frame_id,
 edu.tufts.hrilab.diarcros.msg.geometry_msgs.Vector3 translation,
 edu.tufts.hrilab.diarcros.msg.geometry_msgs.Quaternion rotation)

getTransformNames

public Set<String> getTransformNames()

printTransformTree

public void printTransformTree()

getTransform

public edu.tufts.hrilab.diarcros.msg.geometry_msgs.TransformStamped getTransform(List<edu.tufts.hrilab.diarcros.msg.geometry_msgs.TransformStamped> transforms,
 String link)

getTransform

public javax.vecmath.Matrix4d getTransform(String sourceFrame,
 String targetFrame)

This transform returned is to transform a pose in the refLink coordinate frame to a pose in the targetLink coordinate frame.

Parameters:

sourceFrame -

targetFrame -

Returns: