Transforms Class

class rosdata.core.rosbag_transformer.Transforms(parent_frame: str, child_frame: str, static_transform: bool = False)

Stores a list of transforms over time for a given parent and child frame.

__init__(parent_frame: str, child_frame: str, static_transform: bool = False)

Instantiates a Transforms object.

Parameters

• parent_frame (str) – the name of the parent frame for the transform

• child_frame (str) – the name of the child frame for the transform

• static_transform (bool, optional) – set to true if this is a static transform that does not change with time. Defaults to False.

add_transform(timestamp: rospy.rostime.Time, pose: geometry_msgs.msg._Transform.Transform, static_transform: Optional[bool] = None)

Adds a transform to the list.

Parameters

• timestamp (rospy.rostime.Time) – the ROS timestamp for the transform

• pose (ROSTransformMsg) – the pose as a ROS transform message

• static_transform (bool, optional) – if the the transform is static. Defaults to None.