Class TFDynamic

Inheritance Relationships

Derived Type

Class Documentation

class TFDynamic

TFDynamic object to publish dynamic transforms in TF.

Subclassed by as2::sensors::Gimbal

Public Functions

explicit TFDynamic(rclcpp::Node *node_ptr)

Construct a new TFDynamic object.

Parameters:

node_ptr – Pointer to the node

virtual ~TFDynamic()

Destroy the TFDynamic object.

virtual void setDynamicTransform(const geometry_msgs::msg::TransformStamped &transform)

Publish the transform.

Parameters:

transform_msg – Transform message

virtual void setDynamicTransform(const std::string &frame_id, const std::string &parent_frame_id, float x, float y, float z, float qx, float qy, float qz, float qw)

Add a dynamic transform.

Parameters:

  • frame_id – Frame ID

  • parent_frame_id – Parent Frame ID

  • x – X position (m)

  • y – Y position (m)

  • z – Z position (m)

  • qx – Quaternion X

  • qy – Quaternion Y

  • qz – Quaternion Z

  • qw – Quaternion W

virtual void setDynamicTransform(const std::string &frame_id, const std::string &parent_frame_id, float x, float y, float z, float roll, float pitch, float yaw)

Add a dynamic transform.

Parameters:

  • frame_id – Frame ID

  • parent_frame_id – Parent Frame ID

  • x – X position (m)

  • y – Y position (m)

  • z – Z position (m)

  • roll – Roll (rad)

  • pitch – Pitch (rad)

  • yaw – Yaw (rad)

std::shared_ptr<tf2_ros::TransformBroadcaster> getTransformBroadcaster() const

Get the Transform Broadcaster object.

Returns:

std::shared_ptr<tf2_ros::TransformBroadcaster>

const rclcpp::Node *getNode() const

Get the Node Pointer object.

Returns:

rclcpp::Node* Node pointer

Protected Attributes

rclcpp::Node *node_ptr_ = nullptr
std::shared_ptr<tf2_ros::TransformBroadcaster> dynamic_tf_broadcaster_ptr_