Package tf :: Module listener :: Class TransformerROS

Class TransformerROS

 object --+    
          |    
Transformer --+
              |
             TransformerROS

Known Subclasses:

TransformListener

TransformerROS extends the base class :class:`tf.Transformer`,
adding methods for handling ROS messages.

Instance Methods

[hide private]

asMatrix(self, target_frame, hdr)
:param target_frame: the tf target frame, a string :param hdr: a message header :return: a :class:`numpy.matrix` 4x4 representation of the transform :raises: any of the exceptions that :meth:`~tf.Transformer.lookupTransform` can raise

source code

fromTranslationRotation(self, translation, rotation)
:param translation: translation expressed as a tuple (x,y,z) :param rotation: rotation quaternion expressed as a tuple (x,y,z,w) :return: a :class:`numpy.matrix` 4x4 representation of the transform :raises: any of the exceptions that :meth:`~tf.Transformer.lookupTransform` can raise

source code

transformPoint(self, target_frame, ps)
:param target_frame: the tf target frame, a string :param ps: the geometry_msgs.msg.PointStamped message :return: new geometry_msgs.msg.PointStamped message, in frame target_frame :raises: any of the exceptions that :meth:`~tf.Transformer.lookupTransform` can raise

source code

transformVector3(self, target_frame, v3s)
:param target_frame: the tf target frame, a string :param v3s: the geometry_msgs.msg.Vector3Stamped message :return: new geometry_msgs.msg.Vector3Stamped message, in frame target_frame :raises: any of the exceptions that :meth:`~tf.Transformer.lookupTransform` can raise

source code

transformQuaternion(self, target_frame, ps)
:param target_frame: the tf target frame, a string :param ps: the geometry_msgs.msg.QuaternionStamped message :return: new geometry_msgs.msg.QuaternionStamped message, in frame target_frame :raises: any of the exceptions that :meth:`~tf.Transformer.lookupTransform` can raise

source code

transformPose(self, target_frame, ps)
:param target_frame: the tf target frame, a string :param ps: the geometry_msgs.msg.PoseStamped message :return: new geometry_msgs.msg.PoseStamped message, in frame target_frame :raises: any of the exceptions that :meth:`~tf.Transformer.lookupTransform` can raise

source code

transformPointCloud(self, target_frame, point_cloud)
:param target_frame: the tf target frame, a string :param ps: the sensor_msgs.msg.PointCloud message :return: new sensor_msgs.msg.PointCloud message, in frame target_frame :raises: any of the exceptions that :meth:`~tf.Transformer.lookupTransform` can raise

source code

Inherited from Transformer: __init__, __new__, allFramesAsDot, allFramesAsString, canTransform, canTransformFull, chain, clear, frameExists, getFrameStrings, getLatestCommonTime, getTFPrefix, lookupTransform, lookupTransformFull, lookupTwist, lookupTwistFull, setTransform, setUsingDedicatedThread, waitForTransform, waitForTransformFull

Inherited from object: __delattr__, __format__, __getattribute__, __hash__, __reduce__, __reduce_ex__, __repr__, __setattr__, __sizeof__, __str__, __subclasshook__

Properties

[hide private]

Inherited from object: __class__

Method Details

[hide private]

asMatrix(self, target_frame, hdr)

source code

:param target_frame: the tf target frame, a string
:param hdr: a message header
:return: a :class:`numpy.matrix` 4x4 representation of the transform
:raises: any of the exceptions that :meth:`~tf.Transformer.lookupTransform` can raise

Uses :meth:`lookupTransform` to look up the transform for ROS message header hdr to frame
target_frame, and returns the transform as a :class:`numpy.matrix`
4x4.

fromTranslationRotation(self, translation, rotation)

source code

:param translation: translation expressed as a tuple (x,y,z)
:param rotation: rotation quaternion expressed as a tuple (x,y,z,w)
:return: a :class:`numpy.matrix` 4x4 representation of the transform
:raises: any of the exceptions that :meth:`~tf.Transformer.lookupTransform` can raise

Converts a transformation from :class:`tf.Transformer` into a representation as a 4x4 matrix.

transformPoint(self, target_frame, ps)

source code

:param target_frame: the tf target frame, a string
:param ps: the geometry_msgs.msg.PointStamped message
:return: new geometry_msgs.msg.PointStamped message, in frame target_frame
:raises: any of the exceptions that :meth:`~tf.Transformer.lookupTransform` can raise

Transforms a geometry_msgs PointStamped message to frame target_frame, returns a new PointStamped message.

transformVector3(self, target_frame, v3s)

source code

:param target_frame: the tf target frame, a string
:param v3s: the geometry_msgs.msg.Vector3Stamped message
:return: new geometry_msgs.msg.Vector3Stamped message, in frame target_frame
:raises: any of the exceptions that :meth:`~tf.Transformer.lookupTransform` can raise

Transforms a geometry_msgs Vector3Stamped message to frame target_frame, returns a new Vector3Stamped message.

transformQuaternion(self, target_frame, ps)

source code

:param target_frame: the tf target frame, a string
:param ps: the geometry_msgs.msg.QuaternionStamped message
:return: new geometry_msgs.msg.QuaternionStamped message, in frame target_frame
:raises: any of the exceptions that :meth:`~tf.Transformer.lookupTransform` can raise

Transforms a geometry_msgs QuaternionStamped message to frame target_frame, returns a new QuaternionStamped message.

transformPose(self, target_frame, ps)

source code

:param target_frame: the tf target frame, a string
:param ps: the geometry_msgs.msg.PoseStamped message
:return: new geometry_msgs.msg.PoseStamped message, in frame target_frame
:raises: any of the exceptions that :meth:`~tf.Transformer.lookupTransform` can raise

Transforms a geometry_msgs PoseStamped message to frame target_frame, returns a new PoseStamped message.

transformPointCloud(self, target_frame, point_cloud)

source code

:param target_frame: the tf target frame, a string
:param ps: the sensor_msgs.msg.PointCloud message
:return: new sensor_msgs.msg.PointCloud message, in frame target_frame
:raises: any of the exceptions that :meth:`~tf.Transformer.lookupTransform` can raise

Transforms a geometry_msgs PoseStamped message to frame target_frame, returns a new PoseStamped message.