awviz_common::TfTree Class Reference

#include <tf_tree.hpp>

Public Member Functions
	TfTree ()
	Construct a object setting TF_ROOT as root.
void	emplace (const TfFrame &frame)
	Add a new tf frame to the tree.
const std::unordered_map< std::string, TfFrame > &	get_frames () const
	Return map of all frames.
std::optional< TfFrame >	get_frame (const std::string &id) const
	Get the TfFrame object.
std::optional< TfFrame >	get_parent (const std::string &id) const
	Get the parent TfFrame object.
bool	contains (const std::string &id) const
	Whether to the specified frame ID is contained as a node of tree.
bool	contains (const TfFrame &frame) const
	Whether to the specified frame is contained in the tree checking both key and value.
std::string	entity_path (const TfFrame &frame) const
	Return entity path of the specified frame. The entity path will be in the format "/<Parent0>/<Parent1>/.../<FrameID>", where "<Parent0>" represents the deepest parent frame.
bool	can_link_to (const TfFrame &frame, const std::string &id) const
	Check whether the input frame is linked to the input id.

Constructor & Destructor Documentation

TfTree()

awviz_common::TfTree::TfTree ( )

inline

Construct a object setting TF_ROOT as root.

Member Function Documentation

can_link_to()

bool awviz_common::TfTree::can_link_to ( const TfFrame &  frame, const std::string &  id  ) const

inline

Check whether the input frame is linked to the input id.

Parameters

frame	TfFrame object.
id	Frame ID.

Returns

Return true if the input frame can link to id.

contains() [1/2]

bool awviz_common::TfTree::contains ( const std::string &  id ) const

inline

Whether to the specified frame ID is contained as a node of tree.

Parameters

id

Frame ID.

Returns

Returns true, if the frame is contained.

contains() [2/2]

bool awviz_common::TfTree::contains ( const TfFrame &  frame ) const

inline

Whether to the specified frame is contained in the tree checking both key and value.

Parameters

frame

TfFrame object.

Returns

true Return true if the tree contains the ID of frame as a key, and then if its value is equivalent to frame.

emplace()

void awviz_common::TfTree::emplace ( const TfFrame &  frame )

inline

Add a new tf frame to the tree.

Parameters

frame

A new tf frame. If it has been already registered, skip adding.

entity_path()

std::string awviz_common::TfTree::entity_path ( const TfFrame &  frame ) const

inline

Return entity path of the specified frame. The entity path will be in the format "/<Parent0>/<Parent1>/.../<FrameID>", where "<Parent0>" represents the deepest parent frame.

Parameters

frame

TfFrame Object.

Returns

Entity path of the frame.

get_frame()

std::optional< TfFrame > awviz_common::TfTree::get_frame ( const std::string &  id ) const

inline

Get the TfFrame object.

Parameters

id

Frame ID.

Returns

Corresponding TfFrame object. If there is no target TfFrame, returns nullptr.

get_frames()

const std::unordered_map< std::string, TfFrame > & awviz_common::TfTree::get_frames ( ) const

inline

Return map of all frames.

Returns

Shared pointer of all frames.

get_parent()

std::optional< TfFrame > awviz_common::TfTree::get_parent ( const std::string &  id ) const

inline

Get the parent TfFrame object.

Parameters

id

Frame ID.

Returns

Parent TfFrame object. If there is no parent, returns nullptr.

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

• awviz_common/include/awviz_common/transformation/tf_tree.hpp