Instantiation of Transformer to handle transforms to/from UTM. More...
#include <utm_transformer.h>
Public Member Functions | |
| 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. | |
| virtual std::map< std::string, std::vector< std::string > > | Supports () const |
| Get a map of the transforms supported by this Transformer. | |
| UtmTransformer () | |
Protected Member Functions | |
| virtual bool | Initialize () |
Protected Attributes | |
| std::string | local_xy_frame_ |
| char | utm_band_ |
| boost::shared_ptr< UtmUtil > | utm_util_ |
| int32_t | utm_zone_ |
Detailed Description
Instantiation of Transformer to handle transforms to/from UTM.
Definition at line 51 of file utm_transformer.h.
Constructor & Destructor Documentation
Member Function Documentation
| virtual bool swri_transform_util::UtmTransformer::GetTransform | ( | const std::string & | target_frame, |
| const std::string & | source_frame, | ||
| const ros::Time & | time, | ||
| Transform & | transform | ||
| ) | [virtual] |
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:
-
[in] target_frame Destination frame for transform [in] source_frame Source frame for transform [in] time Time that the transform is valid for. To get the most recent transform, use ros::Time(0) [out] transform 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.
Implements swri_transform_util::Transformer.
| virtual bool swri_transform_util::UtmTransformer::Initialize | ( | ) | [protected, virtual] |
Reimplemented from swri_transform_util::Transformer.
| virtual std::map<std::string, std::vector<std::string> > swri_transform_util::UtmTransformer::Supports | ( | ) | const [virtual] |
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.
Implements swri_transform_util::Transformer.
Member Data Documentation
std::string swri_transform_util::UtmTransformer::local_xy_frame_ [protected] |
Definition at line 93 of file utm_transformer.h.
char swri_transform_util::UtmTransformer::utm_band_ [protected] |
Definition at line 92 of file utm_transformer.h.
boost::shared_ptr<UtmUtil> swri_transform_util::UtmTransformer::utm_util_ [protected] |
Definition at line 89 of file utm_transformer.h.
int32_t swri_transform_util::UtmTransformer::utm_zone_ [protected] |
Definition at line 91 of file utm_transformer.h.
The documentation for this class was generated from the following file: