/** rief Get the transform between two frames by frame ID.
* param target_frame The frame to which data should be transformed
* param source_frame The frame where the data originated
* param time The time at which the value of the transform is desired. (0 will get the latest)
* param transform The transform reference to fill.
*
* Possible exceptions tf::LookupException, tf::ConnectivityException,
* tf::MaxDepthException, tf::ExtrapolationException
*/
void lookupTransform(const std::string& target_frame, const std::string& source_frame,
const ros::Time& time, StampedTransform& transform) const;
/** rief Get the transform between two frames by frame ID assuming fixed frame.
* param target_frame The frame to which data should be transformed
* param target_time The time to which the data should be transformed. (0 will get the latest)
* param source_frame The frame where the data originated
* param source_time The time at which the source_frame should be evaluated. (0 will get the latest)
* param fixed_frame The frame in which to assume the transform is constant in time.
* param transform The transform reference to fill.
*
* Possible exceptions tf::LookupException, tf::ConnectivityException,
* tf::MaxDepthException, tf::ExtrapolationException
*/
void 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;