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Add Tf2 versions of lookupTransform, lookupVelocity, setTransform #728

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Add Tf2 versions of lookupTransform, lookupVelocity, setTransform #728

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eee73eb
Add generic interface to tf2
kyle-basis Nov 11, 2024
62b005d
add *Tf2 versions of functions
kyle-basis Nov 12, 2024
13104aa
uncrustify
kyle-basis Nov 13, 2024
ba44b56
docs
kyle-basis Nov 13, 2024
78b086f
remove pointless virtual
kyle-basis Nov 13, 2024
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Add generic interface to tf2 
Signed-off-by: kyle-basis <kyle@basisrobotics.tech>
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@kyle-basis
kyle-basis authored Nov 11, 2024
commit eee73eba95caf5987f5703849f4250451cbc0b5f
33 changes: 33 additions & 0 deletions tf2/include/tf2/buffer_core_interface.h
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Expand Up @@ -67,6 +67,20 @@ class BufferCoreInterface
* \return The transform between the frames.
*/
TF2_PUBLIC
virtual tf2::Transform
lookupTransformTf2(
const std::string & target_frame,
const std::string & source_frame,
const tf2::TimePoint & time) const = 0;

/**
* \brief Get the transform between two frames by frame ID.
* \param target_frame The frame to which data should be transformed.
* \param source_frame The frame where the data originated.
* \param time The time at which the value of the transform is desired (0 will get the latest).
* \return The transform between the frames as a ROS type.
*/
TF2_PUBLIC
virtual geometry_msgs::msg::TransformStamped
lookupTransform(
const std::string & target_frame,
Expand All @@ -84,6 +98,25 @@ class BufferCoreInterface
* \return The transform between the frames.
*/
TF2_PUBLIC
virtual tf2::Transform
lookupTransformTf2(
const std::string & target_frame,
const tf2::TimePoint & target_time,
const std::string & source_frame,
const tf2::TimePoint & source_time,
const std::string & fixed_frame) const = 0;

/**
* \brief Get the transform between two frames by frame ID assuming fixed frame.
* \param target_frame The frame to which data should be transformed.
* \param target_time The time to which the data should be transformed (0 will get the latest).
* \param source_frame The frame where the data originated.
* \param source_time The time at which the source_frame should be evaluated
* (0 will get the latest).
* \param fixed_frame The frame in which to assume the transform is constant in time.
* \return The transform between the frames as a ROS type.
*/
TF2_PUBLIC
virtual geometry_msgs::msg::TransformStamped
lookupTransform(
const std::string & target_frame,
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