tf_tools.hpp File Reference

#include <tf2_ros/buffer.h>
#include <tf2/exceptions.h>
#include <Eigen/Geometry>
#include <geometry_msgs/msg/transform_stamped.hpp>
#include <std_msgs/msg/header.hpp>
#include <string>
#include <string_view>
#include <tf2_eigen/tf2_eigen.hpp>
#include <tl_expected/expected.hpp>

Include dependency graph for tf_tools.hpp:

This graph shows which files directly or indirectly include this file:

Namespaces
namespace	moveit_pro
namespace	moveit_pro::helper_functions
namespace	moveit_pro::helper_functions::tf_hints
	Hint phrases and docs-page anchors used by tfErrorGuidance.

Functions
std::string	moveit_pro::helper_functions::tfErrorGuidance (std::string_view tf_what)
	Classifies a TF2 exception's what() string and returns a short, subtype-specific hint with a link to the Transforms Troubleshooting docs page.
tl::expected< geometry_msgs::msg::TransformStamped, std::string >	moveit_pro::helper_functions::getTransform (const tf2_ros::Buffer &buffer, const std::string &parent_frame_id, const std_msgs::msg::Header &child_frame_header, const std::chrono::duration< double > &timeout)
	Wraps a TF lookup within a tl::expected.
tl::expected< Eigen::Isometry3d, std::string >	moveit_pro::helper_functions::getTransformAsIsometry (const tf2_ros::Buffer &buffer, const std::string &parent_frame_id, const std_msgs::msg::Header &child_frame_header, const std::chrono::duration< double > &timeout)
	Looks up a TF transform and returns it as an Eigen::Isometry3d.

Variables
constexpr std::string_view	moveit_pro::helper_functions::tf_hints::kExtrapolationPast
constexpr std::string_view	moveit_pro::helper_functions::tf_hints::kExtrapolationFuture
constexpr std::string_view	moveit_pro::helper_functions::tf_hints::kExtrapolationAtTime
constexpr std::string_view	moveit_pro::helper_functions::tf_hints::kMissingFrame
constexpr std::string_view	moveit_pro::helper_functions::tf_hints::kDisconnectedTree = " Common cause: a disconnected TF sub-tree. See "
constexpr std::string_view	moveit_pro::helper_functions::tf_hints::kFallback = " See "
constexpr std::string_view	moveit_pro::helper_functions::tf_hints::kDocsUrl = "https://docs.picknik.ai/troubleshooting/transforms_troubleshooting/"
constexpr std::string_view	moveit_pro::helper_functions::tf_hints::kAnchorExtrapolationPast = "#extrapolation-into-the-past"
constexpr std::string_view	moveit_pro::helper_functions::tf_hints::kAnchorExtrapolationFuture = "#extrapolation-into-the-future"
constexpr std::string_view	moveit_pro::helper_functions::tf_hints::kAnchorExtrapolationAtTime = "#extrapolation-at-time"
constexpr std::string_view	moveit_pro::helper_functions::tf_hints::kAnchorMissingFrames = "#missing-frames"
constexpr std::string_view	moveit_pro::helper_functions::tf_hints::kAnchorDisconnectedTree = "#disconnected-tf-tree"