Instantiation of Transformer to handle transforms to/from UTM. More...
#include <utm_transformer.h>
Public Member Functions | |
virtual bool | GetTransform (const std::string &target_frame, const std::string &source_frame, const ros::Time &time, Transform &transform) |
Get a Transform from a non-UTM frame to UTM or vice-versa. | |
virtual std::map< std::string, std::vector< std::string > > | Supports () const |
Get a map of the transforms supported by this Transformer. | |
UtmTransformer () | |
Protected Member Functions | |
virtual bool | Initialize () |
Protected Attributes | |
std::string | local_xy_frame_ |
char | utm_band_ |
boost::shared_ptr< UtmUtil > | utm_util_ |
int32_t | utm_zone_ |
Instantiation of Transformer to handle transforms to/from UTM.
Definition at line 51 of file utm_transformer.h.
virtual bool swri_transform_util::UtmTransformer::GetTransform | ( | const std::string & | target_frame, |
const std::string & | source_frame, | ||
const ros::Time & | time, | ||
Transform & | transform | ||
) | [virtual] |
Get a Transform from a non-UTM frame to UTM or vice-versa.
Gets the swri_transform_util::Transform that transforms coordinates from the source_frame into the target_frame. If the transform is not available (or not supported), return false.
[in] | target_frame | Destination frame for transform |
[in] | source_frame | Source frame for transform |
[in] | time | Time that the transform is valid for. To get the most recent transform, use ros::Time(0) |
[out] | transform | Output container for the transform |
Implements swri_transform_util::Transformer.
virtual bool swri_transform_util::UtmTransformer::Initialize | ( | ) | [protected, virtual] |
Reimplemented from swri_transform_util::Transformer.
virtual std::map<std::string, std::vector<std::string> > swri_transform_util::UtmTransformer::Supports | ( | ) | const [virtual] |
Get a map of the transforms supported by this Transformer.
Implements swri_transform_util::Transformer.
std::string swri_transform_util::UtmTransformer::local_xy_frame_ [protected] |
Definition at line 93 of file utm_transformer.h.
char swri_transform_util::UtmTransformer::utm_band_ [protected] |
Definition at line 92 of file utm_transformer.h.
boost::shared_ptr<UtmUtil> swri_transform_util::UtmTransformer::utm_util_ [protected] |
Definition at line 89 of file utm_transformer.h.
int32_t swri_transform_util::UtmTransformer::utm_zone_ [protected] |
Definition at line 91 of file utm_transformer.h.