TfBuffer class final

A tf2 transform buffer: stores the frame tree and answers lookups.

This is the pure-Dart core with no ROS coupling, so it can be unit tested and driven from a bag file as easily as from a live robot. Use TfListener to feed it from /tf and /tf_static.

Constructors

TfBuffer({Duration cacheTime = const Duration(seconds: 10), Duration tolerance = const Duration(milliseconds: 100)})

Properties

cacheTime → Duration
How much history to retain per frame.
final
frames → Set<String>
Every frame the buffer knows about, parents included.
no setter
hashCode → int
The hash code for this object.
no setterinherited
rootFrames → Set<String>
Roots of the tf forest — frames that are never a child.
no setter
runtimeType → Type
A representation of the runtime type of the object.
no setterinherited
tolerance → Duration
How far outside the buffered window a lookup may reach before failing.
final

Methods

canTransform(String targetFrame, String sourceFrame, {RosTime? time}) → bool
Whether lookup would succeed.
clear() → void
describe() → String
A readable rendering of the frame tree, for diagnostics.
lookup(String targetFrame, String sourceFrame, {RosTime? time}) → RosTransform?
The transform mapping points from sourceFrame into targetFrame, or null if it cannot be resolved.
lookupOrThrow(String targetFrame, String sourceFrame, {RosTime? time}) → RosTransform
As lookup, but throws TfException describing the failure.
noSuchMethod(Invocation invocation) → dynamic
Invoked when a nonexistent method or property is accessed.
inherited
parentOf(String frame) → String?
The parent of frame, or null if it is a root or unknown.
setTransform(RosTransformStamped stamped, {bool isStatic = false}) → void
Records a transform. isStatic marks it as latched, valid at any time.
toString() → String
A string representation of this object.
inherited
transformPoint(Point point, String targetFrame, String sourceFrame, {RosTime? time}) → Point?
Maps a point from sourceFrame into targetFrame.
transformPose(Pose pose, String targetFrame, String sourceFrame, {RosTime? time}) → Pose?
Maps a pose from sourceFrame into targetFrame.

Operators

operator ==(Object other) → bool
The equality operator.
inherited