tf.pl

 tf_republish_set_goal(+TimeStart, +TimeEnd) is det

Set a new goal for the TF republisher. The republisher then iterates over database records within the time interval provided.

 tf_republish_set_progress(+Progress) is det

Advance republisher to some point in time. Progress is a number between zero and one used as interpolation factor between start and end time.

 tf_republish_clear is det

Reset the TF republisher.

 tf_republish_set_loop(+Loop) is det

Toggle looping from end time to start time.

 tf_republish_set_time(+Time) is det

Set the current time of the TF republisher.

 tf_republish_set_pose(+ObjFrame, +PoseData) is det

Update the transform of a frame in the TF republisher. This is useful to initialize transforms from data not within the range of the republisher.

 tf_republish_set_realtime_factor(+Factor) is det

Change the realtime factor. Default is 1.0, i.e. realtime republishing.

 tf_logger_enable is det

Activate the TF logger. That is start listening to TF messages and storing them in a mongo database.

 tf_logger_disable is det

Deactivate the TF logger.

 tf_mem_clear is det

Reset the TF memory. That is remove every transform stored in the local memory.

 tf_mem_set_pose(+ObjFrame, +PoseData, +Since) is det

Update the transform of a frame in local memory.

 tf_mem_get_pose(+ObjFrame, ?PoseData, ?Since) is det

Read the transform of a frame from local memory.

 tf_set_pose(+Obj, +Data, +Scope) is det

Update the position of an object. The position is updated in local memory, but also written into mongo database.

 tf_get_pose(+Obj, ?PoseQuery, +QueryScope, +FactScope) is semidet

Retrieve the pose of an object. The pose can be requested in a specific reference frame.