swri_transform_util::Wgs84ToTfTransform Class Reference

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

#include <wgs84_transformer.h>

Inheritance diagram for swri_transform_util::Wgs84ToTfTransform:

Public Member Functions
virtual tf::Quaternion	GetOrientation () const
	Get the orientation of the transform. More...
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. More...
	Wgs84ToTfTransform (const tf::StampedTransform &transform, boost::shared_ptr< LocalXyWgs84Util > local_xy_util)
	Create a Wgs84ToTfTransform from a TF transform and local_xy_util. 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 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.

tf::StampedTransform swri_transform_util::Wgs84ToTfTransform::transform_

protected

Definition at line 191 of file wgs84_transformer.h.

---

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

• wgs84_transformer.h