swri_transform_util::Transformer Class Reference

A base class for transformers. More...

#include <transformer.h>

Inheritance diagram for swri_transform_util::Transformer:

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. More...
void	Initialize (const boost::shared_ptr< tf::TransformListener > tf, const boost::shared_ptr< LocalXyWgs84Util > xy_util=boost::shared_ptr< LocalXyWgs84Util >())
	Initialize the Transformer from a tf::TransformListener. More...
virtual std::map< std::string, std::vector< std::string > >	Supports () const =0
	Get a map of the transforms supported by this Transformer. More...
	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< LocalXyWgs84Util >	local_xy_util_
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 53 of file transformer.h.

Constructor & Destructor Documentation

Transformer()

swri_transform_util::Transformer::Transformer

(

)

~Transformer()

virtual swri_transform_util::Transformer::~Transformer ( )

virtual

Member Function Documentation

GetTransform() [1/2]

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

protectedvirtual

GetTransform() [2/2]

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.

Initialize() [1/2]

virtual bool swri_transform_util::Transformer::Initialize ( )

protectedvirtual

Reimplemented in swri_transform_util::UtmTransformer, and swri_transform_util::Wgs84Transformer.

Initialize() [2/2]

void swri_transform_util::Transformer::Initialize	(	const boost::shared_ptr< tf::TransformListener >	tf,
		const boost::shared_ptr< LocalXyWgs84Util >	xy_util = boost::shared_ptr< LocalXyWgs84Util >()
	)

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.

Supports()

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::Wgs84Transformer, and swri_transform_util::UtmTransformer.

Member Data Documentation

initialized_

bool swri_transform_util::Transformer::initialized_

protected

Definition at line 100 of file transformer.h.

local_xy_util_

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

protected

Definition at line 102 of file transformer.h.

tf_listener_

boost::shared_ptr<tf::TransformListener> swri_transform_util::Transformer::tf_listener_

protected

Definition at line 101 of file transformer.h.

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

• transformer.h