Class Pose

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 void setReferenceFrame(std::string referenceFrame)
inline const std::string &getReferenceFrame() const
inline const std::string &getFrameId() const
inline void freezeReferenceFrame()
inline void unfreezeReferenceFrame()

Public Members

bool isInitialized
std::optional<rclcpp::Time> frozenReferenceFrameTime