# tf interpolation

Hello, I have a question about tf interpolation. if I understand it correctly, tf will interpolate when it is asked for a transform between two published transform values. So If I published tf1 for time 5 and tf2 for time 10 and then ask for transform for time 7, I am going to be returned a transform that is somewhere in between tf2 and tf3.

Question: can I ask tf not to interpolate if the requested timestamp is too far away from a known transform? For example in my example above, can I ask tf to interpolate only if I am within 1s from a given transform. So for example above if I ask for transform at time 7 I don't get anything but if I ask for a transform at time 5.5 or 4.5 I do get it?

Or is there a way to find out what two transforms (along with their timestamps) the interpolation was made?

There could be any number of transforms that bracket an interpolation for a tf tree- you would have to traverse the entire tf path between the two frames and get the before and after tf times for each link- only if there was only a single link between two frames then there would be just one set.

Let's assume we only have a single link. I ask tf for a transform for time t and it returns it to me. Is there a way to know that the transform was interpolated? Is there a way to know between which times it was interpolated?