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:

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< LocalXyWgs84Util >	local_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]	transform	The 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_util	A 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

Implements swri_transform_util::TransformImpl.

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_in	Input vector in the 'transform' parent frame.
[out]	v_out	Output 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.

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

• wgs84_transformer.h