fawkes::tf::TimeCache Class Reference

Time based transform cache. More...

#include <>>

List of all members.

Public Member Functions
	TimeCache (float max_storage_time=10.0)
	Constructor.
bool	get_data (fawkes::Time time, TransformStorage &data_out, std::string *error_str=0)
	Get data.
bool	insert_data (const TransformStorage &new_data)
	Insert data.
void	clear_list ()
	Clear storage.
CompactFrameID	get_parent (fawkes::Time time, std::string *error_str)
	Get parent frame number.
P_TimeAndFrameID	get_latest_time_and_parent () const
	Get latest time and parent frame number.
unsigned int	get_list_length () const
	Debugging information methods.
fawkes::Time	get_latest_timestamp () const
	Get latest timestamp from cache.
fawkes::Time	get_oldest_timestamp () const
	Get oldest timestamp from cache.

Static Public Attributes
static const int	MIN_INTERPOLATION_DISTANCE = 5
	Number of nano-seconds to not interpolate below.
static const unsigned int	MAX_LENGTH_LINKED_LIST = 1000000
	Maximum length of linked list, to make sure not to be able to use unlimited memory.

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Detailed Description

Time based transform cache.

A class to keep a sorted linked list in time. This builds and maintains a list of timestamped data. And provides lookup functions to get data out as a function of time.

Definition at line 104 of file time_cache.h.

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Constructor & Destructor Documentation

fawkes::tf::TimeCache::TimeCache

(

float

max_storage_time = 10.0

)

Constructor.

Parameters:

max_storage_time

maximum time in seconds to cache, defaults to 10 seconds

Definition at line 112 of file time_cache.cpp.

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Member Function Documentation

void fawkes::tf::TimeCache::clear_list

(

)

Clear storage.

Definition at line 347 of file time_cache.cpp.

bool fawkes::tf::TimeCache::get_data	(	fawkes::Time	time,
		TransformStorage &	data_out,
		std::string *	error_str = 0
	)

Get data.

Parameters:

time	time for which go get data
data_out	upon return contains requested data
error_str	error stirng

Returns:

false if data not available

Definition at line 276 of file time_cache.cpp.

References fawkes::tf::TransformStorage::frame_id_.

Referenced by fawkes::tf::TransformAccum::gather().

P_TimeAndFrameID fawkes::tf::TimeCache::get_latest_time_and_parent

(

)

const

Get latest time and parent frame number.

Returns:

latest time and parent frame number

Definition at line 365 of file time_cache.cpp.

References fawkes::tf::TransformStorage::frame_id_, and fawkes::tf::TransformStorage::stamp.

fawkes::Time fawkes::tf::TimeCache::get_latest_timestamp

(

)

const

Get latest timestamp from cache.

Returns:

latest timestamp

Definition at line 379 of file time_cache.cpp.

unsigned int fawkes::tf::TimeCache::get_list_length

(

)

const

Debugging information methods.

Get storage list length.

Returns:

storage list length

Definition at line 356 of file time_cache.cpp.

Referenced by TfExampleThread::loop().

fawkes::Time fawkes::tf::TimeCache::get_oldest_timestamp

(

)

const

Get oldest timestamp from cache.

Returns:

oldest time stamp.

Definition at line 389 of file time_cache.cpp.

CompactFrameID fawkes::tf::TimeCache::get_parent	(	fawkes::Time	time,
		std::string *	error_str
	)

Get parent frame number.

Parameters:

time	point in time
error_str	error string

Returns:

frame number

Definition at line 304 of file time_cache.cpp.

References fawkes::tf::TransformStorage::frame_id_.

Referenced by fawkes::tf::CanTransformAccum::gather().

bool fawkes::tf::TimeCache::insert_data

(

const TransformStorage &

new_data

)

Insert data.

Parameters:

new_data

data to insert

Returns:

true on success, false otherwise

Definition at line 323 of file time_cache.cpp.

References fawkes::tf::TransformStorage::stamp.

Referenced by fawkes::tf::Transformer::set_transform().

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Member Data Documentation

const unsigned int fawkes::tf::TimeCache::MAX_LENGTH_LINKED_LIST = 1000000

static

Maximum length of linked list, to make sure not to be able to use unlimited memory.

Definition at line 110 of file time_cache.h.

const int fawkes::tf::TimeCache::MIN_INTERPOLATION_DISTANCE = 5

static

Number of nano-seconds to not interpolate below.

Definition at line 108 of file time_cache.h.

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

• src/libs/tf/time_cache.h
• src/libs/tf/time_cache.cpp