public TransformStorage(Transform data, uint frameId, uint childFrameId)
{
this.Rotation = data.Basis;
this.Translation = data.Origin;
this.Stamp = TimeCache.ToLong(data.Stamp.data);
this.FrameId = frameId;
this.ChildFrameId = childFrameId;
}
private bool canTransformNoLock(uint target_id, uint source_id, Time time, out string error_msg)
{
error_msg = null;
if (target_id == 0 || source_id == 0)
{
return(false);
}
CanTransformAccum accum = new CanTransformAccum();
if (walkToTopParent(accum, TimeCache.ToLong(time.data), target_id, source_id, out error_msg) == TfStatus.NoError)
{
return(true);
}
return(false);
}
private TfStatus getLatestCommonTime(uint target_id, uint source_id, ref ulong time, out string error_str)
{
error_str = null;
if (target_id == source_id)
{
time = TimeCache.ToLong(ROS.GetTime().data);
return(TfStatus.NoError);
}
List <TimeAndFrameId> lct = new List <TimeAndFrameId>();
uint frame = source_id;
uint depth = 0;
ulong common_time = ulong.MaxValue;
while (frame != 0)
{
TimeCache cache;
if (!frames.ContainsKey(frame))
{
break;
}
cache = frames[frame];
TimeAndFrameId latest = cache.GetLatestTimeAndParent();
if (latest.FrameId == 0)
{
break;
}
if (latest.Time != 0)
{
common_time = Math.Min(latest.Time, common_time);
}
lct.Add(latest);
frame = latest.FrameId;
if (frame == target_id)
{
time = common_time;
if (time == ulong.MaxValue)
{
time = 0;
}
return(TfStatus.NoError);
}
++depth;
if (depth > MAX_GRAPH_DEPTH)
{
if (error_str != null)
{
error_str = "The tf tree is invalid because it contains a loop.";
}
return(TfStatus.LookupError);
}
}
frame = target_id;
depth = 0;
common_time = ulong.MaxValue;
uint common_parent = 0;
while (true)
{
TimeCache cache;
if (!frames.ContainsKey(frame))
{
break;
}
cache = frames[frame];
TimeAndFrameId latest = cache.GetLatestTimeAndParent();
if (latest.FrameId == 0)
{
break;
}
if (latest.Time != 0)
{
common_time = Math.Min(latest.Time, common_time);
}
foreach (TimeAndFrameId tf in lct)
{
if (tf.FrameId == latest.FrameId)
{
common_parent = tf.FrameId;
break;
}
}
frame = latest.FrameId;
if (frame == source_id)
{
time = common_time;
if (time == uint.MaxValue)
{
time = 0;
}
return(TfStatus.NoError);
}
++depth;
if (depth > MAX_GRAPH_DEPTH)
{
if (error_str != null)
{
error_str = "The tf tree is invalid because it contains a loop.";
}
return(TfStatus.LookupError);
}
}
if (common_parent == 0)
{
error_str = "" + frameids_reverse[source_id] + " DOES NOT CONNECT TO " + frameids_reverse[target_id];
return(TfStatus.ConnectivityError);
}
for (int i = 0; i < lct.Count; i++)
{
if (lct[i].Time != 0)
{
common_time = Math.Min(common_time, lct[i].Time);
}
if (lct[i].FrameId == common_parent)
{
break;
}
}
if (common_time == uint.MaxValue)
{
common_time = 0;
}
time = common_time;
return(TfStatus.NoError);
}
public bool lookupTransform(string target_frame, string source_frame, Time time, out Transform transform, out string error_string)
{
transform = null;
error_string = null;
string mapped_tgt = resolve(tf_prefix, target_frame);
string mapped_src = resolve(tf_prefix, source_frame);
if (mapped_tgt == mapped_src)
{
transform = new Transform();
transform.Origin = new Vector3();
transform.Basis = new Quaternion();
transform.ChildFrameId = mapped_src;
transform.FrameId = mapped_tgt;
transform.Stamp = DateTime.UtcNow.ToTimeMessage();
return(true);
}
TfStatus retval;
uint target_id = getFrameIDInternal(mapped_tgt);
uint source_id = getFrameIDInternal(mapped_src);
TransformAccum accum = new TransformAccum();
retval = walkToTopParent(accum, TimeCache.ToLong(time.data), target_id, source_id, out error_string);
if (retval != TfStatus.NoError)
{
error_string = error_string ?? "UNSPECIFIED";
switch (retval)
{
case TfStatus.ConnectivityError:
error_string = "NO CONNECTION: " + error_string;
break;
case TfStatus.ExtrapolationError:
error_string = "EXTRAPOLATION: " + error_string;
break;
case TfStatus.LookupError:
error_string = "LOOKUP: " + error_string;
break;
default:
if (accum.result_quat == null || accum.result_vec == null)
{
error_string = "ACCUM WALK FAIL!";
}
break;
}
}
if (accum.result_vec != null && accum.result_quat != null)
{
transform = new Transform();
transform.Origin = accum.result_vec;
transform.Basis = accum.result_quat;
transform.ChildFrameId = mapped_src;
transform.FrameId = mapped_tgt;
transform.Stamp = new Time(TimeData.FromTicks((long)accum.time));
}
return(retval == TfStatus.NoError);
}
