A base class for transformers. More...
#include <transformer.h>
Public Member Functions | |
| virtual bool | GetTransform (const std::string &target_frame, const std::string &source_frame, const ros::Time &time, Transform &transform)=0 |
| Get a swri_transform_util::Transform. | |
| void | Initialize (const boost::shared_ptr< tf::TransformListener > tf) |
| Initialize the Transformer from a tf::TransformListener. | |
| virtual std::map< std::string, std::vector< std::string > > | Supports () const =0 |
| Get a map of the transforms supported by this Transformer. | |
| Transformer () | |
| virtual | ~Transformer () |
Protected Member Functions | |
| virtual bool | GetTransform (const std::string &target_frame, const std::string &source_frame, const ros::Time &time, tf::StampedTransform &transform) const |
| virtual bool | Initialize () |
Protected Attributes | |
| bool | initialized_ |
| boost::shared_ptr < tf::TransformListener > | tf_listener_ |
Detailed Description
A base class for transformers.
Instantiations of this class implement an interface to get transforms from certain types of frames (e.g. TF, WGS84) to other types of frames.
Definition at line 52 of file transformer.h.
Constructor & Destructor Documentation
| virtual swri_transform_util::Transformer::~Transformer | ( | ) | [virtual] |
Member Function Documentation
| virtual bool swri_transform_util::Transformer::GetTransform | ( | const std::string & | target_frame, |
| const std::string & | source_frame, | ||
| const ros::Time & | time, | ||
| Transform & | transform | ||
| ) | [pure virtual] |
Get a swri_transform_util::Transform.
Gets the swri_transform_util::Transform that transforms coordinates from the source_frame into the target_frame. If the transform is not available, 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.
Implemented in swri_transform_util::UtmTransformer, and swri_transform_util::Wgs84Transformer.
| virtual bool swri_transform_util::Transformer::GetTransform | ( | const std::string & | target_frame, |
| const std::string & | source_frame, | ||
| const ros::Time & | time, | ||
| tf::StampedTransform & | transform | ||
| ) | const [protected, virtual] |
| void swri_transform_util::Transformer::Initialize | ( | const boost::shared_ptr< tf::TransformListener > | tf | ) |
Initialize the Transformer from a tf::TransformListener.
- Parameters:
-
tf A shared pointer to a tf::TransformListener that the Transformer wraps. It is recommended that every Transformer in a node use the same tf::TransformListener to reduce redundant computation.
| virtual bool swri_transform_util::Transformer::Initialize | ( | ) | [protected, virtual] |
Reimplemented in swri_transform_util::UtmTransformer, and swri_transform_util::Wgs84Transformer.
| virtual std::map<std::string, std::vector<std::string> > swri_transform_util::Transformer::Supports | ( | ) | const [pure 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.
Implemented in swri_transform_util::UtmTransformer, and swri_transform_util::Wgs84Transformer.
Member Data Documentation
bool swri_transform_util::Transformer::initialized_ [protected] |
Definition at line 98 of file transformer.h.
boost::shared_ptr<tf::TransformListener> swri_transform_util::Transformer::tf_listener_ [protected] |
Definition at line 99 of file transformer.h.
The documentation for this class was generated from the following file: