#include <RobotAPI/libraries/armem_robot_state/common/localization/TransformHelper.h>

Static Public Member Functions
static std::optional< armem::Time >	latestCommonTime (const armem::server::wm::CoreSegment &localizationCoreSegment, const TransformQuery &query)

static std::optional< armem::Time >	latestCommonTime (const armem::wm::CoreSegment &localizationCoreSegment, const TransformQuery &query)
	The latest time for which every link of the query's chain has data: min(query time, newest pose of each link).

static TransformResult	lookupTransform (const armem::server::wm::CoreSegment &localizationCoreSegment, const TransformQuery &query)

static TransformResult	lookupTransform (const armem::wm::CoreSegment &localizationCoreSegment, const TransformQuery &query)
	Looks up the transform at query.header.timestamp, see TransformQuery.

static TransformChainResult	lookupTransformChain (const armem::server::wm::CoreSegment &localizationCoreSegment, const TransformQuery &query)

static TransformChainResult	lookupTransformChain (const armem::wm::CoreSegment &localizationCoreSegment, const TransformQuery &query)

Member Function Documentation

◆ latestCommonTime() [1/2]

std::optional< armem::Time > latestCommonTime	(	const armem::server::wm::CoreSegment &	localizationCoreSegment,
		const TransformQuery &	query )

static

std::optional< armem::Time > latestCommonTime	(	const armem::wm::CoreSegment &	localizationCoreSegment,
		const TransformQuery &	query )

static

The latest time for which every link of the query's chain has data: min(query time, newest pose of each link).

Static links (TransformHeader::isStatic, world -> map) are valid until replaced and do not limit it. Unset if the chain cannot be built or a link has no data. This is the time used with TransformTimePolicy::LatestCommonTime.

TransformResult lookupTransform	(	const armem::server::wm::CoreSegment &	localizationCoreSegment,
		const TransformQuery &	query )

static

TransformResult lookupTransform	(	const armem::wm::CoreSegment &	localizationCoreSegment,
		const TransformQuery &	query )

static

Looks up the transform at query.header.timestamp, see TransformQuery.

A result that holds a link at its newest pose is provisional (TransformLinkTimes::anyLinkHeld).

TransformChainResult lookupTransformChain	(	const armem::server::wm::CoreSegment &	localizationCoreSegment,
		const TransformQuery &	query )

static

TransformChainResult lookupTransformChain	(	const armem::wm::CoreSegment &	localizationCoreSegment,
		const TransformQuery &	query )

static

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