Class TfTransform

Inheritance Relationships

Base Types

Class Documentation

class TfTransform : public swri_transform_util::TransformImpl, public swri_transform_util::Tf2StampStampInterface

Specialization of swri_transform_util::TransformImpl that performs TF transformation

Public Functions

explicit TfTransform(const tf2::Transform &transform)

Construct a TfTransform from a tf2::Transform

Parameters:

transform – The TF Transform that this TfTransform performs

explicit TfTransform(const tf2::Stamped<tf2::Transform> &transform)

Construct a TfTransform from a tf2::StampedTransform

Parameters:

transform – The TF StampedTransform that this TfTransform performs

virtual void Transform(const tf2::Vector3 &v_in, tf2::Vector3 &v_out) const override

Apply this transform to a 3D vector using TF

Parameters:

  • v_in – [in] Input vector

  • v_out – [out] Transformed vector

virtual tf2::Quaternion GetOrientation() const override

Get the orientation component of this transform using TF

Returns:

The orientation component of the transform

virtual TransformImplPtr Inverse() const override

Protected Attributes

tf2::Transform transform_