Public Member Functions | Protected Attributes | List of all members
swri_transform_util::TfToWgs84Transform Class Reference

Specialization of TransformImpl for transforming from TF to WGS84. More...

#include <wgs84_transformer.h>

Inheritance diagram for swri_transform_util::TfToWgs84Transform:
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Public Member Functions

virtual tf::Quaternion GetOrientation () const
 Get the orientation of the transform. More...
 
virtual TransformImplPtr Inverse () const
 
 TfToWgs84Transform (const tf::StampedTransform &transform, boost::shared_ptr< LocalXyWgs84Util > local_xy_util)
 Create a TfToWgs84Transform from a TF transform and local_xy_util. More...
 
virtual void Transform (const tf::Vector3 &v_in, tf::Vector3 &v_out) const
 Transform a 3D vector to latitude/longitude. More...
 
- Public Member Functions inherited from swri_transform_util::TransformImpl
 TransformImpl ()
 
virtual ~TransformImpl ()
 

Protected Attributes

boost::shared_ptr< LocalXyWgs84Utillocal_xy_util_
 
tf::StampedTransform transform_
 

Additional Inherited Members

- Public Attributes inherited from swri_transform_util::TransformImpl
ros::Time stamp_
 Time stamp for this transform. More...
 

Detailed Description

Specialization of TransformImpl for transforming from TF to WGS84.

This class should not be used directly. It is used internally by swri_transform_util::Transform

Definition at line 96 of file wgs84_transformer.h.

Constructor & Destructor Documentation

swri_transform_util::TfToWgs84Transform::TfToWgs84Transform ( const tf::StampedTransform transform,
boost::shared_ptr< LocalXyWgs84Util local_xy_util 
)

Create a TfToWgs84Transform from a TF transform and local_xy_util.

Parameters
[in]transformThe TF transform to use as the source frame. This transform should be the transform from the source frame to the local XY origin frame
local_xy_utilA local XY Utility object to transform from the local XY origin frame to WGS84 coordinates

Member Function Documentation

virtual tf::Quaternion swri_transform_util::TfToWgs84Transform::GetOrientation ( ) const
virtual

Get the orientation of the transform.

This is calculated by transforming 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 ENU frame to this frame.

Returns
The orientation of the transform

Reimplemented from swri_transform_util::TransformImpl.

virtual TransformImplPtr swri_transform_util::TfToWgs84Transform::Inverse ( ) const
virtual
virtual void swri_transform_util::TfToWgs84Transform::Transform ( const tf::Vector3 v_in,
tf::Vector3 v_out 
) const
virtual

Transform a 3D vector to latitude/longitude.

The vector is first transformed with the transform into the local XY ortho-rectified frame. Then, the local_xy_util is used to convert to latitude/longitude.

Parameters
[in]v_inInput vector in the 'transform' parent frame.
[out]v_outOutput vector. x is the longitude in degrees, y is the latitude in degrees, and z is the altitude in meters.

Implements swri_transform_util::TransformImpl.

Member Data Documentation

boost::shared_ptr<LocalXyWgs84Util> swri_transform_util::TfToWgs84Transform::local_xy_util_
protected

Definition at line 140 of file wgs84_transformer.h.

tf::StampedTransform swri_transform_util::TfToWgs84Transform::transform_
protected

Definition at line 139 of file wgs84_transformer.h.


The documentation for this class was generated from the following file:


swri_transform_util
Author(s): Marc Alban
autogenerated on Fri Jun 7 2019 22:06:06