swri_transform_util::UtmTransformer Class Reference

Instantiation of Transformer to handle transforms to/from UTM. More...

#include <utm_transformer.h>

Inheritance diagram for swri_transform_util::UtmTransformer:

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. More...
virtual std::map< std::string, std::vector< std::string > >	Supports () const
	Get a map of the transforms supported by this Transformer. More...
	UtmTransformer ()
Public Member Functions inherited from swri_transform_util::Transformer
void	Initialize (const boost::shared_ptr< tf::TransformListener > tf, const boost::shared_ptr< LocalXyWgs84Util > xy_util=boost::shared_ptr< LocalXyWgs84Util >())
	Initialize the Transformer from a tf::TransformListener. More...
	Transformer ()
virtual	~Transformer ()

Protected Member Functions
virtual bool	Initialize ()
Protected Member Functions inherited from swri_transform_util::Transformer
virtual bool	GetTransform (const std::string &target_frame, const std::string &source_frame, const ros::Time &time, tf::StampedTransform &transform) const

Protected Attributes
std::string	local_xy_frame_
char	utm_band_
boost::shared_ptr< UtmUtil >	utm_util_
int32_t	utm_zone_
Protected Attributes inherited from swri_transform_util::Transformer
bool	initialized_
boost::shared_ptr< LocalXyWgs84Util >	local_xy_util_
boost::shared_ptr< tf::TransformListener >	tf_listener_

Detailed Description

Instantiation of Transformer to handle transforms to/from UTM.

Definition at line 51 of file utm_transformer.h.

Constructor & Destructor Documentation

swri_transform_util::UtmTransformer::UtmTransformer

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Member Function Documentation

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.

Parameters

[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

Returns

True if the transform was found, false if no transform between the specified frames is available for the specified time.

Implements swri_transform_util::Transformer.

virtual bool swri_transform_util::UtmTransformer::Initialize ( )

protectedvirtual

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.

Returns

A map from source frame IDs to list of destination frame IDs. A source->destination entry does not imply that the inverse transform is supported as well.

Implements swri_transform_util::Transformer.

Member Data Documentation

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.

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

• utm_transformer.h