Ros2BufferCoreImpl#

Fully qualified name: isaacsim::ros2::tf_viewer::Ros2BufferCoreImpl

class Ros2BufferCoreImpl : public isaacsim::ros2::tf_viewer::Ros2BufferCore#

Implementation of ROS 2 Transform Buffer Core.

Manages a transform buffer that stores and maintains the transform tree, providing functionality to set and query transforms between different coordinate frames.

Public Functions

Ros2BufferCoreImpl()#

Constructor for ROS 2 Buffer Core implementation.

virtual ~Ros2BufferCoreImpl()#

Virtual destructor.

virtual bool setTransform(
void *msg,
const std::string &authority,
bool isStatic,
)#

Sets a transform in the buffer.

Parameters:

  • msg – [in] Pointer to the transform message.

  • authority – [in] Name of the authority setting the transform.

  • isStatic – [in] Whether the transform is static (unchanging).

Returns:

True if transform was successfully set.

virtual bool getTransform(
const std::string &targetFrame,
const std::string &sourceFrame,
double translation[],
double rotation[],
)#

Gets the transform between two frames.

Parameters:

  • targetFrame – [in] Name of the target frame.

  • sourceFrame – [in] Name of the source frame.

  • translation – [out] Array to store the translation components [x, y, z].

  • rotation – [out] Array to store the rotation components [x, y, z, w].

Returns:

True if transform was successfully retrieved.

virtual bool getParentFrame(
const std::string &frame,
std::string &parentFrame,
)#

Gets the parent frame of a given frame.

Parameters:

  • frame – [in] Name of the frame to query.

  • parentFrame – [out] Name of the parent frame.

Returns:

True if parent frame was successfully retrieved.

virtual std::vector<std::string> getFrames()#

Gets a list of all frames in the buffer.

Returns:

Vector of frame names.

virtual void clear()#

Clears all transforms from the buffer.