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lookupTransform
lookupTransform() is a lower level method which returns the transform between two coordinate frames. This method is the core functionality of the tf library, however most often the transform* methods will be used by the end user. This methods is designed to be used within transform*() methods.
The direction of the transform returned will be from the target_frame to the source_frame. Which if applied to data, will transform data in the source_frame into the target_frame. See tf/CoordinateFrameConventions#Transform_Direction
This may throw any tf exception
Basic API
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1 void tf::TransformListener::lookupTransform (const std::string &target_frame, const std::string &source_frame, const ros::Time &time, StampedTransform &transform) const
Fill transform with the transform from source_frame to target_frame at time.
Advanced API
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1 void tf::TransformListener::lookupTransform (const std::string &target_frame, const ros::Time &target_time, const std::string &source_frame, const ros::Time &source_time, const std::string &fixed_frame, StampedTransform &transform) const
Fill transform with the transform from source_frame to fixed_frame at source_time, chained with the transform from fixed_frame to target_frame at target_time
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