Class TransformBroadcaster

• Defined in File TransformBroadcaster.h

Inheritance Relationships

Base Type

• public QObject

Class Documentation

class TransformBroadcaster : public QObject

QObject wrapper for tf2_ros::StaticTransformBroadcaster to allow for signal-slot interaction

Public Functions

explicit TransformBroadcaster(const rclcpp::Node::SharedPtr &node, const QString &parent_frame = "", const QString &child_frame = "", QObject *parent = nullptr)

const geometry_msgs::msg::TransformStamped &value() const

void setValue(const geometry_msgs::msg::TransformStamped &tf)

void setPose(const geometry_msgs::msg::Pose &pose)

bool enabled() const

Public Slots

void setEnabled(bool bEnabled = true)

void setDisabled(bool bDisabled = true)

void setParentFrame(const QString &frame)

void setChildFrame(const QString &frame)

void setPosition(const Eigen::Vector3d &p)

void setQuaternion(const Eigen::Quaterniond &q)

void setPosition(double x, double y, double z)

void setQuaternion(double x, double y, double z, double w)

Protected Functions

void send()

void check()