swri_transform_util::TfToUtmTransform Class Reference

Class to implement transformation from TF to UTM. More...

#include <utm_transformer.h>

Inheritance diagram for swri_transform_util::TfToUtmTransform:

Public Member Functions
virtual tf::Quaternion	GetOrientation () const
	Get the orientation of this transform. More...
virtual TransformImplPtr	Inverse () const
	TfToUtmTransform (const tf::StampedTransform &transform, boost::shared_ptr< UtmUtil > utm_util, boost::shared_ptr< LocalXyWgs84Util > local_xy_util, int32_t utm_zone, char utm_band)
virtual void	Transform (const tf::Vector3 &v_in, tf::Vector3 &v_out) const
	Apply this transform to a 3D vector. More...
Public Member Functions inherited from swri_transform_util::TransformImpl
	TransformImpl ()
virtual	~TransformImpl ()

Protected Attributes
boost::shared_ptr< LocalXyWgs84Util >	local_xy_util_
tf::StampedTransform	transform_
char	utm_band_
boost::shared_ptr< UtmUtil >	utm_util_
int32_t	utm_zone_

Additional Inherited Members
Public Attributes inherited from swri_transform_util::TransformImpl
ros::Time	stamp_
	Time stamp for this transform. More...

Detailed Description

Class to implement transformation from TF to UTM.

This class should not be used directly. It is used internally by swri_transform_util::Transform

Definition at line 133 of file utm_transformer.h.

Constructor & Destructor Documentation

swri_transform_util::TfToUtmTransform::TfToUtmTransform	(	const tf::StampedTransform &	transform,
		boost::shared_ptr< UtmUtil >	utm_util,
		boost::shared_ptr< LocalXyWgs84Util >	local_xy_util,
		int32_t	utm_zone,
		char	utm_band
	)

Member Function Documentation

virtual tf::Quaternion swri_transform_util::TfToUtmTransform::GetOrientation ( ) const

virtual

Get the orientation of this transform.

Get the orientation of this transform by getting the vector between the origin point and a point offset 1 on the x axis.

Returns

The orientation component of the transform

Reimplemented from swri_transform_util::TransformImpl.

virtual TransformImplPtr swri_transform_util::TfToUtmTransform::Inverse ( ) const

virtual

Implements swri_transform_util::TransformImpl.

virtual void swri_transform_util::TfToUtmTransform::Transform ( const tf::Vector3 &  v_in, tf::Vector3 &  v_out  ) const

virtual

Apply this transform to a 3D vector.

Parameters

[in]	v_in	Input vector
[out]	v_out	Transformed vector

Implements swri_transform_util::TransformImpl.

Member Data Documentation

boost::shared_ptr<LocalXyWgs84Util> swri_transform_util::TfToUtmTransform::local_xy_util_

protected

Definition at line 151 of file utm_transformer.h.

tf::StampedTransform swri_transform_util::TfToUtmTransform::transform_

protected

Definition at line 149 of file utm_transformer.h.

char swri_transform_util::TfToUtmTransform::utm_band_

protected

Definition at line 153 of file utm_transformer.h.

boost::shared_ptr<UtmUtil> swri_transform_util::TfToUtmTransform::utm_util_

protected

Definition at line 150 of file utm_transformer.h.

int32_t swri_transform_util::TfToUtmTransform::utm_zone_

protected

Definition at line 152 of file utm_transformer.h.

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The documentation for this class was generated from the following file:

• utm_transformer.h