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buffer_core.cpp
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// Copyright 2010, Willow Garage, Inc. All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
//
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// * Neither the name of the Willow Garage nor the names of its
// contributors may be used to endorse or promote products derived from
// this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
/** \author Tully Foote */
#include <algorithm>
#include <cassert>
#include <chrono>
#include <map>
#include <memory>
#include <mutex>
#include <string>
#include <utility>
#include <vector>
#include <iostream>
#include "tf2/buffer_core.h"
#include "tf2/time_cache.h"
#include "tf2/exceptions.h"
#include "tf2/LinearMath/Quaternion.h"
#include "tf2/LinearMath/Transform.h"
#include "tf2/LinearMath/Vector3.h"
#include "builtin_interfaces/msg/time.hpp"
#include "geometry_msgs/msg/transform.hpp"
#include "geometry_msgs/msg/transform_stamped.hpp"
namespace tf2
{
namespace
{
// Tolerance for acceptable quaternion normalization
constexpr static double QUATERNION_NORMALIZATION_TOLERANCE = 10e-3;
bool startsWithSlash(const std::string & frame_id)
{
if (frame_id.size() > 0) {
if (frame_id[0] == '/') {
return true;
}
}
return false;
}
std::string stripSlash(const std::string & in)
{
std::string out = in;
if (startsWithSlash(in)) {
out.erase(0, 1);
}
return out;
}
void fillOrWarnMessageForInvalidFrame(
const char * function_name_arg,
const std::string & frame_id,
std::string * error_msg,
const char * rationale)
{
std::string s = "Invalid frame ID \"" + frame_id +
"\" passed to " + function_name_arg + " - " + rationale;
if (error_msg != nullptr) {
*error_msg = s;
} else {
static constexpr std::chrono::milliseconds warning_interval =
std::chrono::milliseconds(2500);
RCUTILS_LOG_WARN_THROTTLE(RCUTILS_STEADY_TIME, warning_interval.count(), "%s", s.c_str());
}
}
/*
* remove when geometry_msgs dependency is broken, tf2_geometry_msgs provides a better implementation
*/
geometry_msgs::msg::TransformStamped toMsg(const tf2::Stamped<tf2::Transform> & stamped_transform)
{
geometry_msgs::msg::TransformStamped msg;
msg.transform.translation.x = stamped_transform.getOrigin().x();
msg.transform.translation.y = stamped_transform.getOrigin().y();
msg.transform.translation.z = stamped_transform.getOrigin().z();
msg.transform.rotation.x = stamped_transform.getRotation().x();
msg.transform.rotation.y = stamped_transform.getRotation().y();
msg.transform.rotation.z = stamped_transform.getRotation().z();
msg.transform.rotation.w = stamped_transform.getRotation().w();
std::chrono::nanoseconds ns = std::chrono::duration_cast<std::chrono::nanoseconds>(
stamped_transform.stamp_.time_since_epoch());
std::chrono::seconds s = std::chrono::duration_cast<std::chrono::seconds>(
stamped_transform.stamp_.time_since_epoch());
msg.header.stamp.sec = static_cast<int32_t>(s.count());
msg.header.stamp.nanosec = static_cast<uint32_t>(ns.count() % 1000000000ull);
msg.header.frame_id = stamped_transform.frame_id_;
return msg;
}
} // anonymous namespace
CompactFrameID BufferCore::validateFrameId(
const char * function_name_arg,
const std::string & frame_id,
std::string * error_msg) const
{
if (frame_id.empty()) {
fillOrWarnMessageForInvalidFrame(
function_name_arg, frame_id, error_msg, "in tf2 frame_ids cannot be empty");
return 0;
}
if (startsWithSlash(frame_id)) {
fillOrWarnMessageForInvalidFrame(
function_name_arg, frame_id, error_msg, "in tf2 frame_ids cannot start with a '/'");
return 0;
}
CompactFrameID id = lookupFrameNumber(frame_id);
if (id == 0) {
fillOrWarnMessageForInvalidFrame(
function_name_arg, frame_id, error_msg, "frame does not exist");
}
return id;
}
CompactFrameID BufferCore::validateFrameId(
const char * function_name_arg,
const std::string & frame_id) const
{
if (frame_id.empty()) {
std::string error_msg = "Invalid argument \"" + frame_id + "\" passed to " + function_name_arg +
" - in tf2 frame_ids cannot be empty";
throw tf2::InvalidArgumentException(error_msg.c_str());
}
if (startsWithSlash(frame_id)) {
std::string error_msg = "Invalid argument \"" + frame_id + "\" passed to " + function_name_arg +
" - in tf2 frame_ids cannot start with a '/'";
throw tf2::InvalidArgumentException(error_msg.c_str());
}
CompactFrameID id = lookupFrameNumber(frame_id);
if (id == 0) {
std::string error_msg = "\"" + frame_id + "\" passed to " + function_name_arg +
" does not exist. ";
throw tf2::LookupException(error_msg.c_str());
}
return id;
}
BufferCore::BufferCore(tf2::Duration cache_time)
: cache_time_(cache_time),
transformable_callbacks_counter_(0),
transformable_requests_counter_(0),
using_dedicated_thread_(false)
{
frameIDs_["NO_PARENT"] = 0;
frames_.push_back(TimeCacheInterfacePtr());
frameIDs_reverse_.push_back("NO_PARENT");
}
BufferCore::~BufferCore() {}
void BufferCore::clear()
{
std::unique_lock<std::mutex> lock(frame_mutex_);
if (frames_.size() > 1) {
for (std::vector<TimeCacheInterfacePtr>::iterator cache_it = frames_.begin() + 1;
cache_it != frames_.end(); ++cache_it)
{
if (*cache_it) {
(*cache_it)->clearList();
}
}
}
}
bool BufferCore::setTransform(
const geometry_msgs::msg::TransformStamped & transform,
const std::string & authority, bool is_static)
{
tf2::Transform tf2_transform(tf2::Quaternion(
transform.transform.rotation.x,
transform.transform.rotation.y,
transform.transform.rotation.z,
transform.transform.rotation.w),
tf2::Vector3(
transform.transform.translation.x,
transform.transform.translation.y,
transform.transform.translation.z));
TimePoint time_point(std::chrono::nanoseconds(transform.header.stamp.nanosec) +
std::chrono::duration_cast<std::chrono::nanoseconds>(
std::chrono::seconds(
transform.header.stamp.sec)));
return setTransformImpl(
tf2_transform, transform.header.frame_id, transform.child_frame_id,
time_point, authority, is_static);
}
bool BufferCore::setTransformImpl(
const tf2::Transform & transform_in, const std::string frame_id,
const std::string child_frame_id, const TimePoint stamp,
const std::string & authority, bool is_static)
{
std::string stripped_frame_id = stripSlash(frame_id);
std::string stripped_child_frame_id = stripSlash(child_frame_id);
bool error_exists = false;
if (stripped_child_frame_id == stripped_frame_id) {
RCUTILS_LOG_ERROR(
"TF_SELF_TRANSFORM: Ignoring transform from authority \"%s\" with frame_id and "
"child_frame_id \"%s\" because they are the same",
authority.c_str(), stripped_child_frame_id.c_str());
error_exists = true;
}
if (stripped_child_frame_id.empty()) {
RCUTILS_LOG_ERROR(
"TF_NO_CHILD_FRAME_ID: Ignoring transform from authority \"%s\" because child_frame_id not"
" set ", authority.c_str());
error_exists = true;
}
if (stripped_frame_id.empty()) {
RCUTILS_LOG_ERROR(
"TF_NO_FRAME_ID: Ignoring transform with child_frame_id \"%s\" from authority \"%s\" "
"because frame_id not set", stripped_child_frame_id.c_str(), authority.c_str());
error_exists = true;
}
if (std::isnan(transform_in.getOrigin().x()) || std::isnan(transform_in.getOrigin().y()) ||
std::isnan(transform_in.getOrigin().z()) ||
std::isnan(transform_in.getRotation().x()) || std::isnan(transform_in.getRotation().y()) ||
std::isnan(transform_in.getRotation().z()) || std::isnan(transform_in.getRotation().w()))
{
RCUTILS_LOG_ERROR(
"TF_NAN_INPUT: Ignoring transform for child_frame_id \"%s\" from authority \"%s\" because"
" of a nan value in the transform (%f %f %f) (%f %f %f %f)",
stripped_child_frame_id.c_str(), authority.c_str(),
transform_in.getOrigin().x(), transform_in.getOrigin().y(), transform_in.getOrigin().z(),
transform_in.getRotation().x(), transform_in.getRotation().y(),
transform_in.getRotation().z(), transform_in.getRotation().w()
);
error_exists = true;
}
bool valid = std::abs(
(transform_in.getRotation().w() * transform_in.getRotation().w() +
transform_in.getRotation().x() * transform_in.getRotation().x() +
transform_in.getRotation().y() * transform_in.getRotation().y() +
transform_in.getRotation().z() * transform_in.getRotation().z()) - 1.0f) <
QUATERNION_NORMALIZATION_TOLERANCE;
if (!valid) {
RCUTILS_LOG_ERROR(
"TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id \"%s\" from authority"
" \"%s\" because of an invalid quaternion in the transform (%f %f %f %f)",
stripped_child_frame_id.c_str(), authority.c_str(),
transform_in.getRotation().x(), transform_in.getRotation().y(),
transform_in.getRotation().z(), transform_in.getRotation().w());
error_exists = true;
}
if (error_exists) {
return false;
}
{
std::unique_lock<std::mutex> lock(frame_mutex_);
CompactFrameID frame_number = lookupOrInsertFrameNumber(stripped_child_frame_id);
TimeCacheInterfacePtr frame = getFrame(frame_number);
if (frame == nullptr) {
frame = allocateFrame(frame_number, is_static);
} else {
// Overwrite TimeCacheInterface type with a current input
const TimeCache * time_cache_ptr = dynamic_cast<TimeCache *>(frame.get());
const StaticCache * static_cache_ptr = dynamic_cast<StaticCache *>(frame.get());
if (time_cache_ptr && is_static) {
frame = allocateFrame(frame_number, is_static);
} else if (static_cache_ptr && !is_static) {
frame = allocateFrame(frame_number, is_static);
}
}
if (frame->insertData(
TransformStorage(
stamp, transform_in.getRotation(),
transform_in.getOrigin(), lookupOrInsertFrameNumber(stripped_frame_id), frame_number)))
{
frame_authority_[frame_number] = authority;
} else {
std::string stamp_str = displayTimePoint(stamp);
RCUTILS_LOG_WARN(
"TF_OLD_DATA ignoring data from the past for frame %s at time %s according to authority"
" %s\nPossible reasons are listed at http://wiki.ros.org/tf/Errors%%20explained",
stripped_child_frame_id.c_str(), stamp_str.c_str(), authority.c_str());
return false;
}
}
testTransformableRequests();
return true;
}
// This method expects that the caller is holding frame_mutex_
TimeCacheInterfacePtr BufferCore::allocateFrame(CompactFrameID cfid, bool is_static)
{
if (is_static) {
frames_[cfid] = std::make_shared<StaticCache>();
} else {
frames_[cfid] = std::make_shared<TimeCache>(cache_time_);
}
return frames_[cfid];
}
enum WalkEnding
{
Identity,
TargetParentOfSource,
SourceParentOfTarget,
FullPath,
};
template<typename F>
tf2::TF2Error BufferCore::walkToTopParent(
F & f, TimePoint time, CompactFrameID target_id,
CompactFrameID source_id, std::string * error_string, std::vector<CompactFrameID>
* frame_chain) const
{
if (frame_chain) {
frame_chain->clear();
}
// Short circuit if zero length transform to allow lookups on non existant links
if (source_id == target_id) {
f.finalize(Identity, time);
return tf2::TF2Error::TF2_NO_ERROR;
}
// If getting the latest get the latest common time
if (time == TimePointZero) {
tf2::TF2Error retval = getLatestCommonTime(target_id, source_id, time, error_string);
if (retval != tf2::TF2Error::TF2_NO_ERROR) {
return retval;
}
}
// Walk the tree to its root from the source frame, accumulating the transform
CompactFrameID frame = source_id;
CompactFrameID top_parent = frame;
uint32_t depth = 0;
TF2Error error_code = TF2Error::TF2_NO_ERROR;
TF2Error extrapolation_error_code = TF2Error::TF2_NO_ERROR;
std::string extrapolation_error_string;
bool extrapolation_might_have_occurred = false;
while (frame != 0) {
TimeCacheInterfacePtr cache = getFrame(frame);
if (frame_chain) {
frame_chain->push_back(frame);
}
if (!cache) {
// There will be no cache for the very root of the tree
top_parent = frame;
break;
}
CompactFrameID parent = f.gather(
cache, time, &extrapolation_error_string,
&extrapolation_error_code);
if (parent == 0) {
// Just break out here... there may still be a path from source -> target
top_parent = frame;
extrapolation_might_have_occurred = true;
break;
}
// Early out... target frame is a direct parent of the source frame
if (frame == target_id) {
f.finalize(TargetParentOfSource, time);
return tf2::TF2Error::TF2_NO_ERROR;
}
f.accum(true);
top_parent = frame;
frame = parent;
++depth;
if (depth > MAX_GRAPH_DEPTH) {
if (error_string) {
std::stringstream ss;
ss << "The tf tree is invalid because it contains a loop." << std::endl <<
allFramesAsStringNoLock() << std::endl;
*error_string = ss.str();
}
return tf2::TF2Error::TF2_LOOKUP_ERROR;
}
}
// Now walk to the top parent from the target frame, accumulating its transform
frame = target_id;
depth = 0;
std::vector<CompactFrameID> reverse_frame_chain;
while (frame != top_parent) {
TimeCacheInterfacePtr cache = getFrame(frame);
if (frame_chain) {
reverse_frame_chain.push_back(frame);
}
if (!cache) {
break;
}
CompactFrameID parent = f.gather(cache, time, error_string, &error_code);
if (parent == 0) {
if (error_string) {
std::stringstream ss;
ss << *error_string << ", when looking up transform from frame [" << lookupFrameString(
source_id) << "] to frame [" << lookupFrameString(target_id) << "]";
*error_string = ss.str();
}
return error_code;
}
// Early out... source frame is a direct parent of the target frame
if (frame == source_id) {
f.finalize(SourceParentOfTarget, time);
if (frame_chain) {
frame_chain->swap(reverse_frame_chain);
}
return tf2::TF2Error::TF2_NO_ERROR;
}
f.accum(false);
frame = parent;
++depth;
if (depth > MAX_GRAPH_DEPTH) {
if (error_string) {
std::stringstream ss;
ss << "The tf tree is invalid because it contains a loop." << std::endl <<
allFramesAsStringNoLock() << std::endl;
*error_string = ss.str();
}
return tf2::TF2Error::TF2_LOOKUP_ERROR;
}
}
if (frame != top_parent) {
if (extrapolation_might_have_occurred) {
if (error_string) {
std::stringstream ss;
ss << extrapolation_error_string << ", when looking up transform from frame [" <<
lookupFrameString(source_id) << "] to frame [" << lookupFrameString(target_id) << "]";
*error_string = ss.str();
}
return extrapolation_error_code;
}
createConnectivityErrorString(source_id, target_id, error_string);
return tf2::TF2Error::TF2_CONNECTIVITY_ERROR;
}
f.finalize(FullPath, time);
if (frame_chain) {
// Pruning: Compare the chains starting at the parent (end) until they differ
size_t m = reverse_frame_chain.size();
size_t n = frame_chain->size();
while (m > 0u && n > 0u) {
--m;
--n;
if ((*frame_chain)[n] != reverse_frame_chain[m]) {
break;
}
}
// Erase all duplicate items from frame_chain
if (n > 0u) {
frame_chain->erase(frame_chain->begin() + (n - 1u), frame_chain->end());
}
if (m < reverse_frame_chain.size()) {
size_t i = m + 1uL;
while (i > 0u) {
--i;
frame_chain->push_back(reverse_frame_chain[i]);
}
}
}
return tf2::TF2Error::TF2_NO_ERROR;
}
struct TransformAccum
{
TransformAccum()
: source_to_top_quat(0.0, 0.0, 0.0, 1.0),
source_to_top_vec(0.0, 0.0, 0.0),
target_to_top_quat(0.0, 0.0, 0.0, 1.0),
target_to_top_vec(0.0, 0.0, 0.0),
result_quat(0.0, 0.0, 0.0, 1.0),
result_vec(0.0, 0.0, 0.0)
{
}
CompactFrameID gather(
TimeCacheInterfacePtr cache, TimePoint time,
std::string * error_string, TF2Error * error_code)
{
if (!cache->getData(time, st, error_string, error_code)) {
return 0;
}
return st.frame_id_;
}
void accum(bool source)
{
if (source) {
source_to_top_vec = quatRotate(st.rotation_, source_to_top_vec) + st.translation_;
source_to_top_quat = st.rotation_ * source_to_top_quat;
} else {
target_to_top_vec = quatRotate(st.rotation_, target_to_top_vec) + st.translation_;
target_to_top_quat = st.rotation_ * target_to_top_quat;
}
}
void finalize(WalkEnding end, TimePoint _time)
{
switch (end) {
case Identity:
break;
case TargetParentOfSource:
result_vec = source_to_top_vec;
result_quat = source_to_top_quat;
break;
case SourceParentOfTarget:
{
tf2::Quaternion inv_target_quat = target_to_top_quat.inverse();
tf2::Vector3 inv_target_vec = quatRotate(inv_target_quat, -target_to_top_vec);
result_vec = inv_target_vec;
result_quat = inv_target_quat;
break;
}
case FullPath:
{
tf2::Quaternion inv_target_quat = target_to_top_quat.inverse();
tf2::Vector3 inv_target_vec = quatRotate(inv_target_quat, -target_to_top_vec);
result_vec = quatRotate(inv_target_quat, source_to_top_vec) + inv_target_vec;
result_quat = inv_target_quat * source_to_top_quat;
}
break;
}
time = _time;
}
TransformStorage st;
TimePoint time;
tf2::Quaternion source_to_top_quat;
tf2::Vector3 source_to_top_vec;
tf2::Quaternion target_to_top_quat;
tf2::Vector3 target_to_top_vec;
tf2::Quaternion result_quat;
tf2::Vector3 result_vec;
};
tf2::Stamped<std::pair<tf2::Vector3, tf2::Vector3>> BufferCore::lookupVelocityTf2(
const std::string & tracking_frame, const std::string & observation_frame,
const TimePoint & time, const tf2::Duration & averaging_interval) const
{
// ref point is origin of tracking_frame, ref_frame = obs_frame
return lookupVelocityTf2(
tracking_frame, observation_frame, observation_frame, tf2::Vector3(
0, 0,
0), tracking_frame, time,
averaging_interval);
}
geometry_msgs::msg::VelocityStamped BufferCore::lookupVelocity(
const std::string & tracking_frame, const std::string & observation_frame,
const TimePoint & time, const tf2::Duration & averaging_interval) const
{
// ref point is origin of tracking_frame, ref_frame = obs_frame
return lookupVelocity(
tracking_frame, observation_frame, observation_frame, tf2::Vector3(
0, 0,
0), tracking_frame, time,
averaging_interval);
}
tf2::Stamped<std::pair<tf2::Vector3, tf2::Vector3>> BufferCore::lookupVelocityTf2(
const std::string & tracking_frame, const std::string & observation_frame,
const std::string & reference_frame, const tf2::Vector3 & reference_point,
const std::string & reference_point_frame,
const TimePoint & time, const tf2::Duration & averaging_interval) const
{
tf2::TimePoint latest_time;
// TODO(anyone): This is incorrect, but better than nothing. Really we want the latest time for
// any of the frames
getLatestCommonTime(
lookupFrameNumber(observation_frame),
lookupFrameNumber(tracking_frame),
latest_time,
0);
auto time_seconds = tf2::timeToSec(time);
auto averaging_interval_seconds = std::chrono::duration<double>(averaging_interval).count();
auto end_time =
std::min(time_seconds + averaging_interval_seconds * 0.5, tf2::timeToSec(latest_time));
auto start_time =
std::max(0.00001 + averaging_interval_seconds, end_time) - averaging_interval_seconds;
// correct for the possiblity that start time was truncated above.
auto corrected_averaging_interval = end_time - start_time;
tf2::Transform start, end;
TimePoint time_out;
lookupTransformImpl(
observation_frame, tracking_frame, tf2::timeFromSec(
start_time), start, time_out);
lookupTransformImpl(observation_frame, tracking_frame, tf2::timeFromSec(end_time), end, time_out);
auto temp = start.getBasis().inverse() * end.getBasis();
tf2::Quaternion quat_temp;
temp.getRotation(quat_temp);
auto o = start.getBasis() * quat_temp.getAxis();
auto ang = quat_temp.getAngle();
double delta_x = end.getOrigin().getX() - start.getOrigin().getX();
double delta_y = end.getOrigin().getY() - start.getOrigin().getY();
double delta_z = end.getOrigin().getZ() - start.getOrigin().getZ();
tf2::Vector3 twist_vel((delta_x) / corrected_averaging_interval,
(delta_y) / corrected_averaging_interval,
(delta_z) / corrected_averaging_interval);
tf2::Vector3 twist_rot = o * (ang / corrected_averaging_interval);
// correct for the position of the reference frame
tf2::Transform inverse;
lookupTransformImpl(
reference_frame, tracking_frame, tf2::timeFromSec(
time_seconds), inverse, time_out);
tf2::Vector3 out_rot = inverse.getBasis() * twist_rot;
tf2::Vector3 out_vel = inverse.getBasis() * twist_vel + inverse.getOrigin().cross(out_rot);
auto transform_point = [this](
const std::string & target_frame,
const std::string & source_frame,
const tf2::Vector3 & point_in,
double time_transform)
{
// transform point
tf2::Transform transform;
tf2::TimePoint time_out;
lookupTransformImpl(
target_frame, source_frame, tf2::timeFromSec(time_transform), transform, time_out);
tf2::Vector3 out;
out = transform * point_in;
return out;
};
// Rereference the twist about a new reference point
// Start by computing the original reference point in the reference frame:
tf2::Vector3 p = tf2::Vector3(0, 0, 0);
tf2::Vector3 rp_orig = transform_point(
reference_frame, tracking_frame, p, time_seconds);
tf2::Vector3 rp_desired = transform_point(
reference_frame, reference_point_frame, reference_point, time_seconds);
tf2::Vector3 delta = rp_desired - rp_orig;
out_vel = out_vel + out_rot * delta;
const tf2::TimePoint out_time = tf2::timeFromSec(start_time + averaging_interval_seconds * 0.5);
return tf2::Stamped<std::pair<tf2::Vector3, tf2::Vector3>>({out_vel, out_rot}, out_time, reference_frame);
}
geometry_msgs::msg::VelocityStamped BufferCore::lookupVelocity(
const std::string & tracking_frame, const std::string & observation_frame,
const std::string & reference_frame, const tf2::Vector3 & reference_point,
const std::string & reference_point_frame,
const TimePoint & time, const tf2::Duration & averaging_interval) const
{
const tf2::Stamped<std::pair<tf2::Vector3, tf2::Vector3>> stamped_velocity = lookupVelocityTf2(tracking_frame, observation_frame, reference_frame,
reference_point, reference_point_frame, time, averaging_interval);
geometry_msgs::msg::VelocityStamped msg;
const std::chrono::nanoseconds ns = std::chrono::duration_cast<std::chrono::nanoseconds>(
stamped_velocity.stamp_.time_since_epoch());
const std::chrono::seconds s = std::chrono::duration_cast<std::chrono::seconds>(
stamped_velocity.stamp_.time_since_epoch());
msg.header.stamp.sec = static_cast<int32_t>(s.count());
msg.header.stamp.nanosec = static_cast<uint32_t>(ns.count() % 1000000000ull);
msg.header.frame_id = reference_frame;
msg.body_frame_id = tracking_frame;
msg.velocity.linear.x = stamped_velocity.first.x();
msg.velocity.linear.y = stamped_velocity.first.y();
msg.velocity.linear.z = stamped_velocity.first.z();
msg.velocity.angular.x = stamped_velocity.second.x();
msg.velocity.angular.y = stamped_velocity.second.y();
msg.velocity.angular.z = stamped_velocity.second.z();
return msg;
}
tf2::Stamped<tf2::Transform>
BufferCore::lookupTransformTf2(
const std::string & target_frame, const std::string & source_frame,
const TimePoint & time) const
{
tf2::Stamped<tf2::Transform> stamped_transform;
lookupTransformImpl(target_frame, source_frame, time, stamped_transform, stamped_transform.stamp_);
stamped_transform.frame_id_ = target_frame;
return stamped_transform;
}
geometry_msgs::msg::TransformStamped
BufferCore::lookupTransform(
const std::string & target_frame, const std::string & source_frame,
const TimePoint & time) const
{
const tf2::Stamped<tf2::Transform> stamped_transform = lookupTransformTf2(target_frame, source_frame, time);
geometry_msgs::msg::TransformStamped msg = toMsg(stamped_transform);
msg.child_frame_id = source_frame;
return msg;
}
tf2::Stamped<tf2::Transform>
BufferCore::lookupTransformTf2(
const std::string & target_frame, const TimePoint & target_time,
const std::string & source_frame, const TimePoint & source_time,
const std::string & fixed_frame) const
{
tf2::Stamped<tf2::Transform> stamped_transform;
lookupTransformImpl(
target_frame, target_time, source_frame, source_time,
fixed_frame, stamped_transform, stamped_transform.stamp_);
return stamped_transform;
}
geometry_msgs::msg::TransformStamped
BufferCore::lookupTransform(
const std::string & target_frame, const TimePoint & target_time,
const std::string & source_frame, const TimePoint & source_time,
const std::string & fixed_frame) const
{
const tf2::Stamped<tf2::Transform> stamped_transform = lookupTransformTf2(target_frame, target_time, source_frame, source_time, fixed_frame);
geometry_msgs::msg::TransformStamped msg = toMsg(stamped_transform);
msg.child_frame_id = source_frame;
return msg;
}
void BufferCore::lookupTransformImpl(
const std::string & target_frame,
const std::string & source_frame,
const TimePoint & time, tf2::Transform & transform,
TimePoint & time_out) const
{
std::unique_lock<std::mutex> lock(frame_mutex_);
if (target_frame == source_frame) {
transform.setIdentity();
if (time == TimePointZero) {
CompactFrameID target_id = lookupFrameNumber(target_frame);
TimeCacheInterfacePtr cache = getFrame(target_id);
if (cache) {
time_out = cache->getLatestTimestamp();
} else {
time_out = time;
}
} else {
time_out = time;
}
return;
}
// Identity case does not need to be validated
CompactFrameID target_id = validateFrameId("lookupTransform argument target_frame", target_frame);
CompactFrameID source_id = validateFrameId("lookupTransform argument source_frame", source_frame);
std::string error_string;
TransformAccum accum;
tf2::TF2Error retval = walkToTopParent(accum, time, target_id, source_id, &error_string, nullptr);
if (retval != tf2::TF2Error::TF2_NO_ERROR) {
switch (retval) {
case tf2::TF2Error::TF2_CONNECTIVITY_ERROR:
throw ConnectivityException(error_string);
case tf2::TF2Error::TF2_BACKWARD_EXTRAPOLATION_ERROR:
throw BackwardExtrapolationException(error_string);
case tf2::TF2Error::TF2_FORWARD_EXTRAPOLATION_ERROR:
throw ForwardExtrapolationException(error_string);
case tf2::TF2Error::TF2_NO_DATA_FOR_EXTRAPOLATION_ERROR:
throw NoDataForExtrapolationException(error_string);
case tf2::TF2Error::TF2_EXTRAPOLATION_ERROR:
throw ExtrapolationException(error_string);
case tf2::TF2Error::TF2_LOOKUP_ERROR:
throw LookupException(error_string);
default:
RCUTILS_LOG_ERROR("Unknown error code: %u", static_cast<std::uint8_t>(retval));
assert(0);
}
}
time_out = accum.time;
transform.setOrigin(accum.result_vec);
transform.setRotation(accum.result_quat);
}
void BufferCore::lookupTransformImpl(
const std::string & target_frame,
const TimePoint & target_time,
const std::string & source_frame,
const TimePoint & source_time,
const std::string & fixed_frame, tf2::Transform & transform,
TimePoint & time_out) const
{
validateFrameId("lookupTransform argument target_frame", target_frame);
validateFrameId("lookupTransform argument source_frame", source_frame);
validateFrameId("lookupTransform argument fixed_frame", fixed_frame);
tf2::Transform tf1, tf2;
lookupTransformImpl(fixed_frame, source_frame, source_time, tf1, time_out);
lookupTransformImpl(target_frame, fixed_frame, target_time, tf2, time_out);
transform = tf2 * tf1;
}
struct CanTransformAccum
{
CompactFrameID gather(
TimeCacheInterfacePtr cache, TimePoint time,
std::string * error_string, TF2Error * error_code)
{
return cache->getParent(time, error_string, error_code);
}
void accum(bool source)
{
(void)source;
}
void finalize(WalkEnding end, TimePoint _time)
{
(void)end;
(void)_time;
}
TransformStorage st;
};
bool BufferCore::canTransformInternal(
CompactFrameID target_id, CompactFrameID source_id,
const TimePoint & time, std::string * error_msg) const
{
std::unique_lock<std::mutex> lock(frame_mutex_);
if (target_id == 0 || source_id == 0) {
if (error_msg) {
*error_msg = "Source or target frame is not yet defined";
}
return false;
}
if (target_id == source_id) {
return true;
}
CanTransformAccum accum;
if (walkToTopParent(
accum, time, target_id, source_id,
error_msg, nullptr) == tf2::TF2Error::TF2_NO_ERROR)
{
return true;
}
return false;
}
bool BufferCore::canTransform(
const std::string & target_frame, const std::string & source_frame,
const TimePoint & time, std::string * error_msg) const
{
// Short circuit if target_frame == source_frame
if (target_frame == source_frame) {
return true;
}
CompactFrameID target_id = validateFrameId(
"canTransform argument target_frame", target_frame, error_msg);
if (target_id == 0) {
return false;
}
CompactFrameID source_id = validateFrameId(
"canTransform argument source_frame", source_frame, error_msg);
if (source_id == 0) {
return false;
}
return canTransformInternal(target_id, source_id, time, error_msg);
}
bool BufferCore::canTransform(
const std::string & target_frame, const TimePoint & target_time,
const std::string & source_frame, const TimePoint & source_time,
const std::string & fixed_frame, std::string * error_msg) const
{
CompactFrameID target_id = validateFrameId(
"canTransform argument target_frame", target_frame, error_msg);
if (target_id == 0) {
return false;
}
CompactFrameID source_id = validateFrameId(
"canTransform argument source_frame", source_frame, error_msg);
if (source_id == 0) {
return false;
}
CompactFrameID fixed_id = validateFrameId(
"canTransform argument fixed_frame", fixed_frame, error_msg);
if (fixed_id == 0) {
return false;
}
return
canTransformInternal(target_id, fixed_id, target_time, error_msg) &&
canTransformInternal(fixed_id, source_id, source_time, error_msg);
}
tf2::TimeCacheInterfacePtr BufferCore::getFrame(CompactFrameID frame_id) const
{
if (frame_id >= frames_.size()) {
return TimeCacheInterfacePtr();
} else {
return frames_[frame_id];
}
}
CompactFrameID BufferCore::lookupFrameNumber(const std::string & frameid_str) const
{
CompactFrameID retval;
M_StringToCompactFrameID::const_iterator map_it = frameIDs_.find(frameid_str);
if (map_it == frameIDs_.end()) {
retval = CompactFrameID(0);
} else {
retval = map_it->second;
}
return retval;
}
CompactFrameID BufferCore::lookupOrInsertFrameNumber(const std::string & frameid_str)
{
CompactFrameID retval = 0;