Class Wgs84Transformer

Inheritance Relationships

Base Type

Class Documentation

class Wgs84Transformer : public swri_transform_util::Transformer

Public Functions

explicit Wgs84Transformer(LocalXyWgs84UtilPtr local_xy_util)
virtual std::map<std::string, std::vector<std::string>> Supports() const override

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.

virtual bool GetTransform(const std::string &target_frame, const std::string &source_frame, const tf2::TimePoint &time, Transform &transform) override

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:

  • target_frame – [in] Destination frame for transform

  • source_frame – [in] Source frame for transform

  • time – [in] Time that the transform is valid for. To get the most recent transform, use ros::Time(0)

  • transform – [out] 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.

Protected Functions

virtual bool Initialize() override

Protected Attributes

std::string local_xy_frame_