roslib/dist/src/tf/BaseTFClient.d.ts

The standard ROS Javascript Library

import { default as Transform } from '../math/Transform.ts';
import { default as Ros } from '../core/Ros.ts';
import { tf2_msgs } from '../types/tf2_msgs.ts';
import { std_msgs } from '../types/std_msgs.ts';
/**
 * Base class for TF Clients that provides common functionality.
 */
export default class BaseTFClient {
    frameInfos: Record<string, {
        transform?: Transform;
        cbs: ((tf: Transform) => void)[];
    }>;
    republisherUpdateRequested: boolean;
    ros: Ros;
    fixedFrame: string;
    angularThres: number;
    transThres: number;
    rate: number;
    updateDelay: number;
    topicTimeout: std_msgs.time;
    serverName: string;
    /**
     * @param options
     * @param options.ros - The ROSLIB.Ros connection handle.
     * @param [options.fixedFrame=base_link] - The fixed frame.
     * @param [options.angularThres=2.0] - The angular threshold for the TF republisher.
     * @param [options.transThres=0.01] - The translation threshold for the TF republisher.
     * @param [options.rate=10.0] - The rate for the TF republisher.
     * @param [options.updateDelay=50] - The time (in ms) to wait after a new subscription
     *     to update the TF republisher's list of TFs.
     * @param [options.topicTimeout=2.0] - The timeout parameter for the TF republisher.
     * @param [options.serverName="/tf2_web_republisher"] - The name of the tf2_web_republisher server.
     */
    constructor({ ros, fixedFrame, angularThres, transThres, rate, updateDelay, topicTimeout, serverName, }: {
        ros: Ros;
        fixedFrame?: string;
        angularThres?: number;
        transThres?: number;
        rate?: number;
        updateDelay?: number;
        topicTimeout?: number;
        serverName?: string;
    });
    /**
     * Process the incoming TF message and send them out using the callback
     * functions.
     *
     * @param tf - The TF message from the server.
     */
    processTFArray(tf: tf2_msgs.TFMessage): void;
    /**
     * Create and send a new goal (or service request) to the tf2_web_republisher
     * based on the current list of TFs.
     * This method should be overridden by subclasses.
     */
    updateGoal(): void;
    /**
     * Subscribe to the given TF frame.
     *
     * @param frameID - The TF frame to subscribe to.
     * @param callback - Function with the following params:
     */
    subscribe(frameID: string, callback: (transform: Transform) => void): void;
    /**
     * Unsubscribe from the given TF frame.
     *
     * @param frameID - The TF frame to unsubscribe from.
     * @param [callback] - The callback function to remove.
     */
    unsubscribe(frameID: string, callback?: (transform: Transform) => void): void;
}