tf_mongo.pl

 tf_mng_drop is det

Drops all documents in the TF database collection.

 tf_mng_lookup(+ObjFrame, +QuerySince, +QueryUntil, -PoseData, -FactSince, -FactUntil) is nondet

Retrieve all transforms of frame within some time interval.

 tf_mng_store(+ObjFrame, +PoseData, +Stamp) is det

Store a transform in mongo DB.

 tf_mng_trajectory(+Obj, +Begin, +End, -Trajectory) is det

Read all transforms associated to a frame in given time interval.

 tf_mng_lookup_all(-Transforms) is det

Retrieve latest transform of each frame.

 tf_mng_lookup_all(-Transforms, +Stamp) is det

Retrieve latest transform of each frame. Documents later than Stamp are ignored.

 tf_mng_tree(+Stamp, -Tree) is semidet

Loads full TF tree for given timestamp. All poses in the tree are transformed into world coordinates.

 tf_mng_tree_lookup(+Tree, +ChildFrame, -PoseData) is semidet

Retrieve pose of named frame from a previously created TF tree. PoseData is a list [RefFrame,Position,Rotation]. RefFrame maybe grounded in which case the requested relative transform is computed if needed and possible.