The interface for retrieving information about the relationships between different coordinate frames used within an Avular robot. More...

#include <creos/transforms_interface.hpp>

Public Member Functions
virtual SubscriptionId	subscribeToStaticTransforms (const std::function< void(const creos_messages::TransformStampedList &)> &callback)=0
	Subscribe to transformation frame messages for static transformations.

virtual SubscriptionId	subscribeToDynamicTransforms (const std::function< void(const creos_messages::TransformStampedList &)> &callback)=0
	Subscribe to transformation frame messages for dynamic transformations.

Static Public Attributes
static constexpr char	name [] = "transforms"

static constexpr unsigned	version = 1

Detailed Description

The interface for retrieving information about the relationships between different coordinate frames used within an Avular robot.

Member Function Documentation

◆ subscribeToDynamicTransforms()

virtual SubscriptionId creos::ITransformsInterface::subscribeToDynamicTransforms ( const std::function< void(const creos_messages::TransformStampedList &)> & callback )

pure virtualOriginVertex

Subscribe to transformation frame messages for dynamic transformations.

The dynamic transformation frame messages contain the transformation between two coordinate frames that change.

Parameters

callback The callback function that will be called when new data is available.

Returns: SubscriptionId The id of the subscription.

Exceptions

creos::UnsupportedError	If the robot does not provide this data, or the client and agent are incompatible.
creos::SubscriptionError	If the subscription failed to be created.

◆ subscribeToStaticTransforms()

virtual SubscriptionId creos::ITransformsInterface::subscribeToStaticTransforms ( const std::function< void(const creos_messages::TransformStampedList &)> & callback )

pure virtualOriginVertex

Subscribe to transformation frame messages for static transformations.

The static transformation frame messages contain the transformation between two coordinate frames that do not change.