ros::tf-cascaded-coords

  • :super cascaded-coords
  • :slots ros::frame-id ros::child-frame-id ros::stamp

:init &rest ros::initargs &key ((:frame-id ros::fid) ) ((:child-frame-id ros::cid) ) ((:stamp ros::st) #i(0 0)) &allow-other-keys

:frame-id &optional id

:child-frame-id &optional id

:stamp &optional ros::st

:prin1 &optional (ros::strm 1)

ros::transformer

  • :super ros::object
  • :slots ros::cobject

:init

   &optional (ros::interpolating t) (ros::cache-time 10.0)

  • The Transformer object is the core of tf. It maintains a time-varying graph of transforms, and permits asynchronous graph modification and queries

    $ (setq tr (instance ros::transformer :init))


$ (send tr :set-transform (instance ros::tf-cascaded-coords :init :pos #f(1 2 3) :frame-id "this_frame" :child-frame-id "child"))
$ (send tr :get-frame-strings)
("this_frame" "child")
$ (send tr :lookup-transform "this_frame" "child" (ros::time))


$ (send tr :lookup-transform "child" "this_frame" (ros::time))


:all-frames-as-string

  • Returns a string representing all frames

:set-transform

   coords &optional (ros::auth )

  • Adds a new transform to the Transformer graph from euslisp coordinates object

:wait-for-transform

   ros::target-frame ros::source-frame ros::time ros::timeout &optional (ros::duration 0.01)

  • Waits for the given transformation to become available. If the timeout occurs before the transformation becomes available

:wait-for-transform-full

   ros::target-frame ros::target-time ros::source-frame ros::source-time ros::fixed-frame ros::timeout &optional (ros::duration 0.01)

  • Extended version of :wait-for-transform

:can-transform

   ros::target-frame ros::source-frame ros::time

  • Returns True if the Transformer can determine the transform from source_frame to target_frame at time

:can-transform-full

   ros::target-frame ros::target-time ros::source-frame ros::source-time ros::fixed-frame

  • Extended version of can-transform

:chain

   ros::target-frame ros::target-time ros::source-frame ros::source-time ros::fixed-frame

  • returns the chain of frames connecting source_frame to target_frame.

:clear

  • Clear all transformations.

:frame-exists

   ros::frame-id

  • returns True if frame frame_id exists in the Transformer.

:get-frame-strings

  • returns all frame names in the Transformer as a list

:get-latest-common-time

   ros::source-frame ros::target-frame

  • Determines the most recent time for which Transformer can compute the transform between the two given frames. Raises tf.Exception if transformation is not possible.

:lookup-transform

   ros::target-frame ros::source-frame ros::time

  • Returns the transform from source_frame to target_frame at time.

:lookup-transform-full

   ros::target-frame ros::target-time ros::source-frame ros::source-time ros::fixed-frame

  • Extended version of :lookup-transform

:get-parent

   ros::frame_id ros::time

  • Fill the parent of a frame.

:set-extrapolation-limit

   distance

  • Set the distance which tf is allow to extrapolate.

ros::transform-listener

  • :super ros::transformer
  • :slots nil

:init

   &optional (ros::cache-time 10.0) (ros::spin-thread t)

  • This class inherits from Transformer and automatically subscribes to ROS transform messages.

:transform-pose

   ros::target-frame ros::pose-stamped

  • Transform a geometry_msgs::PoseStamped into the target frame

:dispose

ros::transform-broadcaster

  • :super ros::object
  • :slots ros::cobject

:init

  • Construnct transform broadcaster

:send-transform

   coords ros::p-frame ros::c-frame &optional ros::tm

  • Send a StampedTransform from euslisp coordinates, parent frame, frame_id, and time

ros::buffer-client

  • :super ros::object
  • :slots ros::cobject

:init

   &key (ros::namespace tf2_buffer_server)
   (ros::check-frequency 10.0)
   (ros::timeout-padding 2.0)

  • Construct tf2 buffer object

:wait-for-server

   &optional (ros::timeout 5.0)

  • Wait for tf2 buffer server

:wait-for-transform

   ros::target-frame ros::source-frame ros::rostime ros::timeout &optional (ros::duration 0.05)

  • Waits for the given transformation to become available. If the timeout occurs before the transformation becomes available

:can-transform

   ros::target-frame ros::source-frame ros::rostime &optional (ros::timeout 0.0)

  • Returns t if the Transformer can determine the transform from source_frame to target_frame at time.

:lookup-transform

   ros::target-frame ros::source-frame ros::rostime &optional (ros::timeout 0.0)

  • Returns the transform from source_frame to target_frame at time.

ros::pos->tf-point

   pos

  • Convert euslisp pos to geoometry_msgs::Point, this also converts [mm] to [m]

ros::pos->tf-translation

   pos

  • Convert euslisp pos to geoometry_msgs::Vector3, this also converts [mm] to [m]

ros::rot->tf-quaternion

   rot

  • Convert euslisp rot to geoometry_msgs::Quaternion

ros::coords->tf-pose

   coords

  • Convert euslisp coordinates to geoometry_msgs::Pose

ros::coords->tf-pose-stamped

   coords id

  • Convert euslisp coordinates to geoometry_msgs::PoseStapmed

ros::coords->tf-transform

   coords

  • Convert euslisp coordinates to geoometry_msgs::Transform

ros::coords->tf-transform-stamped

   coords id &optional (ros::child_id )

  • Convert euslisp coordinates to geoometry_msgs::TransformStamped

ros::tf-point->pos

   ros::point

  • Convert geoometry_msgs::Point to euslisp point vector, this aloso converts [m] to [mm]

ros::tf-quaternion->rot

   ros::quaternion

  • Convert geoometry_msgs::quaternion to euslisp rotation matrix

ros::tf-pose->coords

   ros::pose

  • Convert geoometry_msgs::Pose to euslisp coordinates

ros::tf-pose-stamped->coords

   ros::pose-stamped

  • Convert geoometry_msgs::PoseStamped to euslisp coordinates

ros::tf-transform->coords

   ros::trans

  • Convert geoometry_msgs::Transform to euslisp coordinates

ros::tf-transform-stamped->coords

   ros::trans

  • Convert geoometry_msgs::TransformStamped to euslisp coordinates

ros::tf-twist->coords

   ros::twist

  • Convert geoometry_msgs::Twist to euslisp coordinates

ros::create-quaternion-msg-from-rpy

   ros::roll ros::pitch ros::yaw

  • Create geoometry_msgs::Quaternion from roll, pitch and yaw

ros::identity-quaternion

  • Create identity geoemtry_msgs::Quaternion

ros::identity-pose

  • Create identity geometry_msgs::Pose

ros::identity-pose-stamped

   &optional (ros::header (instance std_msgs::header :init))

  • Create identity geometry_msgs::PoseStamped

ros::identity-transform

  • Create identity geometry_msgs::Transform

ros::identity-transform-stamped

   &optional (ros::header (instance std_msgs::header :init))

  • Create identity geometry_msgs::TransformStamped

ros::create-identity-quaternion

ros::create-quaternion-from-rpy ros::roll ros::pitch ros::yaw