wgs84_transformer.h
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29 
30 #ifndef TRANSFORM_UTIL_WGS84_TRANSFORMER_H_
31 #define TRANSFORM_UTIL_WGS84_TRANSFORMER_H_
32 
33 #include <map>
34 #include <string>
35 #include <vector>
36 
37 #include <boost/shared_ptr.hpp>
38 
39 #include <tf/transform_datatypes.h>
40 #include <tf/transform_listener.h>
41 
44 
45 namespace swri_transform_util
46 {
47  /***
48  * Specialization of Transformer to perform transforms to/from WGS84
49  */
51  {
52  public:
54 
61  virtual std::map<std::string, std::vector<std::string> > Supports() const;
62 
78  virtual bool GetTransform(
79  const std::string& target_frame,
80  const std::string& source_frame,
81  const ros::Time& time,
82  Transform& transform);
83 
84  protected:
85  virtual bool Initialize();
86 
87  std::string local_xy_frame_;
88  };
89 
97  {
98  public:
109  const tf::StampedTransform& transform,
111 
123  virtual void Transform(const tf::Vector3& v_in, tf::Vector3& v_out) const;
124 
135  virtual tf::Quaternion GetOrientation() const;
136  virtual TransformImplPtr Inverse() const;
137 
138  protected:
141  };
142 
150  {
151  public:
162  const tf::StampedTransform& transform,
164 
176  virtual void Transform(const tf::Vector3& v_in, tf::Vector3& v_out) const;
177 
188  virtual tf::Quaternion GetOrientation() const;
189  virtual TransformImplPtr Inverse() const;
190  protected:
193  };
194 }
195 
196 #endif // TRANSFORM_UTIL_WGS84_TRANSFORMER_H_
An abstraction of the tf::Transform class to support transforms in addition to the rigid transforms s...
Definition: transform.h:105
virtual std::map< std::string, std::vector< std::string > > Supports() const
Get a map of the transforms supported by this Transformer.
Specialization of TransformImpl for transforming from TF to WGS84.
Specialization of TransformImpl for transforming from WGS84 to TF.
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.
Base class for Transform implementations.
Definition: transform.h:49
boost::shared_ptr< LocalXyWgs84Util > local_xy_util_
boost::shared_ptr< LocalXyWgs84Util > local_xy_util_
A base class for transformers.
Definition: transformer.h:53


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