Specialization of TransformImpl for transforming from WGS84 to TF. More...
#include <wgs84_transformer.h>
Public Member Functions | |
| virtual tf::Quaternion | GetOrientation () const |
| Get the orientation of the transform. | |
| virtual TransformImplPtr | Inverse () const |
| virtual void | Transform (const tf::Vector3 &v_in, tf::Vector3 &v_out) const |
| Transform a WGS84 triple to a 3D vector. | |
| Wgs84ToTfTransform (const tf::StampedTransform &transform, boost::shared_ptr< LocalXyWgs84Util > local_xy_util) | |
| Create a Wgs84ToTfTransform from a TF transform and local_xy_util. | |
Protected Attributes | |
| boost::shared_ptr < LocalXyWgs84Util > | local_xy_util_ |
| tf::StampedTransform | transform_ |
Detailed Description
Specialization of TransformImpl for transforming from WGS84 to TF.
This class should not be used directly. It is used internally by swri_transform_util::Transform
Definition at line 149 of file wgs84_transformer.h.
Constructor & Destructor Documentation
| swri_transform_util::Wgs84ToTfTransform::Wgs84ToTfTransform | ( | const tf::StampedTransform & | transform, |
| boost::shared_ptr< LocalXyWgs84Util > | local_xy_util | ||
| ) |
Create a Wgs84ToTfTransform from a TF transform and local_xy_util.
- Parameters:
-
[in] transform The TF transform to use as the destination frame. This transform should be the transform from the local XY origin frame to the destination frame. local_xy_util A local XY Utility object to transform from WGS84 coordinates to the local XY origin frame
Member Function Documentation
| virtual tf::Quaternion swri_transform_util::Wgs84ToTfTransform::GetOrientation | ( | ) | const [virtual] |
Get the orientation of the transform.
This is calculated by transforming the inverse of the reference angle of the `local_xy_util` using the `transform`. The result is the composition of those two rotations, which is the complete rotation from this frame to the ENU frame.
- Returns:
- The orientation of the transform
Reimplemented from swri_transform_util::TransformImpl.
| virtual TransformImplPtr swri_transform_util::Wgs84ToTfTransform::Inverse | ( | ) | const [virtual] |
Implements swri_transform_util::TransformImpl.
| virtual void swri_transform_util::Wgs84ToTfTransform::Transform | ( | const tf::Vector3 & | v_in, |
| tf::Vector3 & | v_out | ||
| ) | const [virtual] |
Transform a WGS84 triple to a 3D vector.
The vector is first converted from latitude/longitude/altitude to the local XY ortho-rectified frame using the `local_xy_util`. Then, the `transform` is applied.
- Parameters:
-
[in] v_in Input vector. x is the longitude in degrees, y is the latitude in degrees, and z is the altitude in meters. [out] v_out Output vector in the 'transform' child frame.
Implements swri_transform_util::TransformImpl.
Member Data Documentation
boost::shared_ptr<LocalXyWgs84Util> swri_transform_util::Wgs84ToTfTransform::local_xy_util_ [protected] |
Definition at line 192 of file wgs84_transformer.h.
Definition at line 191 of file wgs84_transformer.h.
The documentation for this class was generated from the following file: