Querying and Restructuring
Querying and Restructuring
tf looks up the transform between any two frames in a TransformTree, regardless of how they're connected. This tutorial covers querying the tree's frames and structure, and re-parenting or copying it.
Query and Restructure the Tree
Look up the transform between any two frames, walk the tree's structure, or re-parent and copy it.
Lookup Transform
Gets the transform between any two frames, anywhere in the tree.
View →Find Nodes
Looks up one or more frames in the tree by name.
View →Get All Frames
Gets every frame's pose relative to a reference frame.
View →Get Parent
Gets the parent of a frame in the tree.
View →Change Parent
Moves a frame under a different parent, keeping its pose in the world.
View →Copy
Deep copies the tree with a renamed root, so it can coexist with the original.
View →Get Root Name
Gets the name of the tree's root frame.
View →Set Root Name
Sets the name of the tree's root frame.
View →Print Hierarchy
Logs the tree's parent/child structure, indented by depth.
View →Where to Go Next?
Continue to the next tutorial.
Visualization
Log a single frame or an entire tree to Rerun as labeled axis triads with TF.
Next tutorial →