Class Pose

Defined in File cp_pose.hpp

Inheritance Relationships

Base Types

public smacc2::ISmaccComponent
public smacc2::ISmaccUpdatable

Class Documentation

class Pose : public smacc2::ISmaccComponent, public smacc2::ISmaccUpdatable 

Public Functions

Pose(std::string poseFrameName = "base_link", std::string referenceFrame = "odom")

Pose(StandardReferenceFrames referenceFrame)

void onInitialize() override

void update() override

void waitTransformUpdate(rclcpp::Rate r = rclcpp::Rate(20))

inline geometry_msgs::msg::Pose toPoseMsg()

inline geometry_msgs::msg::PoseStamped toPoseStampedMsg()

float getYaw()

float getX()

float getY()

float getZ()

inline const std::string &getReferenceFrame() const

inline const std::string &getFrameId() const

Public Members

bool isInitialized