niryo_libraries.tf.listener.TransformerROS

class documentation

class TransformerROS(Transformer):

Known subclasses: niryo_libraries.tf.listener.TransformListener

Constructor: TransformerROS(interpolate, cache_time)

View In Hierarchy

TransformerROS extends the base class tf.Transformer, adding methods for handling ROS messages.

Method asMatrix Uses lookupTransform to look up the transform for ROS message header hdr to frame target_frame, and returns the transform as a numpy.matrix 4x4.
Method fromTranslationRotation Converts a transformation from tf.Transformer into a representation as a 4x4 matrix.
Method transformPoint Transforms a geometry_msgs PointStamped message to frame target_frame, returns a new PointStamped message.
Method transformPointCloud Transforms a geometry_msgs PoseStamped message to frame target_frame, returns a new PoseStamped message.
Method transformPose Transforms a geometry_msgs PoseStamped message to frame target_frame, returns a new PoseStamped message.
Method transformQuaternion Transforms a geometry_msgs QuaternionStamped message to frame target_frame, returns a new QuaternionStamped message.
Method transformVector3 Transforms a geometry_msgs Vector3Stamped message to frame target_frame, returns a new Vector3Stamped message.

Inherited from Transformer:

Method __init__ Undocumented
Method allFramesAsDot Undocumented
Method allFramesAsString Undocumented
Method canTransform Undocumented
Method canTransformFull Undocumented
Method chain Undocumented
Method clear Undocumented
Method frameExists Not a recommended API, only here for backwards compatibility
Method getFrameStrings Not a recommended API, only here for backwards compatibility
Method getLatestCommonTime Undocumented
Method getTFPrefix Undocumented
Method lookupTransform Undocumented
Method lookupTransformFull Undocumented
Method lookupTwist Undocumented
Method lookupTwistFull Undocumented
Method setTransform Undocumented
Method setUsingDedicatedThread Undocumented
Method waitForTransform Undocumented
Method waitForTransformFull Undocumented
Instance Variable _buffer Undocumented
Instance Variable _using_dedicated_thread Undocumented
def asMatrix(self, target_frame, hdr):

Uses lookupTransform to look up the transform for ROS message header hdr to frame target_frame, and returns the transform as a numpy.matrix 4x4.

Parameters
target_framethe tf target frame, a string
hdra message header
Returns
a numpy.matrix 4x4 representation of the transform
Raises
Unknown exceptionany of the exceptions that ~tf.Transformer.lookupTransform can raise
def fromTranslationRotation(self, translation, rotation):

Converts a transformation from tf.Transformer into a representation as a 4x4 matrix.

Parameters
translationtranslation expressed as a tuple (x,y,z)
rotationrotation quaternion expressed as a tuple (x,y,z,w)
Returns
a numpy.matrix 4x4 representation of the transform
Raises
Unknown exceptionany of the exceptions that ~tf.Transformer.lookupTransform can raise
def transformPoint(self, target_frame, ps):

Transforms a geometry_msgs PointStamped message to frame target_frame, returns a new PointStamped message.

Parameters
target_framethe tf target frame, a string
psthe geometry_msgs.msg.PointStamped message
Returns
new geometry_msgs.msg.PointStamped message, in frame target_frame
Raises
Unknown exceptionany of the exceptions that ~tf.Transformer.lookupTransform can raise
def transformPointCloud(self, target_frame, point_cloud):

Transforms a geometry_msgs PoseStamped message to frame target_frame, returns a new PoseStamped message.

Parameters
target_framethe tf target frame, a string
point_cloudUndocumented
psthe sensor_msgs.msg.PointCloud message
Returns
new sensor_msgs.msg.PointCloud message, in frame target_frame
Raises
Unknown exceptionany of the exceptions that ~tf.Transformer.lookupTransform can raise
def transformPose(self, target_frame, ps):

Transforms a geometry_msgs PoseStamped message to frame target_frame, returns a new PoseStamped message.

Parameters
target_framethe tf target frame, a string
psthe geometry_msgs.msg.PoseStamped message
Returns
new geometry_msgs.msg.PoseStamped message, in frame target_frame
Raises
Unknown exceptionany of the exceptions that ~tf.Transformer.lookupTransform can raise
def transformQuaternion(self, target_frame, ps):

Transforms a geometry_msgs QuaternionStamped message to frame target_frame, returns a new QuaternionStamped message.

Parameters
target_framethe tf target frame, a string
psthe geometry_msgs.msg.QuaternionStamped message
Returns
new geometry_msgs.msg.QuaternionStamped message, in frame target_frame
Raises
Unknown exceptionany of the exceptions that ~tf.Transformer.lookupTransform can raise
def transformVector3(self, target_frame, v3s):

Transforms a geometry_msgs Vector3Stamped message to frame target_frame, returns a new Vector3Stamped message.

Parameters
target_framethe tf target frame, a string
v3sthe geometry_msgs.msg.Vector3Stamped message
Returns
new geometry_msgs.msg.Vector3Stamped message, in frame target_frame
Raises
Unknown exceptionany of the exceptions that ~tf.Transformer.lookupTransform can raise