Apollo 10.0
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apollo::cyber::OdometryMsgConverter类 参考

#include <odometry_msg_converter.h>

类 apollo::cyber::OdometryMsgConverter 继承关系图:
apollo::cyber::OdometryMsgConverter 的协作图:

Public 成员函数

 OdometryMsgConverter ()
 
 ~OdometryMsgConverter ()
 
virtual bool ConvertMsg (InputTypes< RosOdometryMsgPtr > &, OutputTypes< OdometryOutputMsgPtr > &)
 convert the message between ros and apollo
 
- Public 成员函数 继承自 apollo::cyber::RosApolloMessageConverter< InputTypes< RosOdometryMsgPtr >, OutputTypes< OdometryOutputMsgPtr > >
 RosApolloMessageConverter ()
 
 RosApolloMessageConverter ()
 
 ~RosApolloMessageConverter () override
 
 ~RosApolloMessageConverter () override
 
bool Init () override
 
bool Init () override
 
- Public 成员函数 继承自 apollo::cyber::MessageConverter
 MessageConverter ()
 
virtual ~MessageConverter ()
 
bool IsInit () const
 

额外继承的成员函数

- Protected 成员函数 继承自 apollo::cyber::RosApolloMessageConverter< InputTypes< RosOdometryMsgPtr >, OutputTypes< OdometryOutputMsgPtr > >
virtual bool ConvertMsg (const std::shared_ptr< InputTypes< RosOdometryMsgPtr > > &ros_msg0, const std::shared_ptr< OutputTypes< OdometryOutputMsgPtr > > &ros_msg1, const std::shared_ptr< NullType > &ros_msg2, const std::shared_ptr< NullType > &ros_msg3, std::shared_ptr< NullType > &apollo_msg0, std::shared_ptr< NullType > &apollo_msg1, std::shared_ptr< NullType > &apollo_msg2, std::shared_ptr< NullType > &apollo_msg3)=0
 
virtual bool ConvertMsg (InputTypes &input, OutputTypes &output)=0
 
- Protected 成员函数 继承自 apollo::cyber::MessageConverter
bool LoadConfig (ConverterConf *config)
 
- Protected 属性 继承自 apollo::cyber::MessageConverter
std::atomic< bool > init_
 
std::unique_ptr< apollo::cyber::Nodecyber_node_
 
std::vector< std::shared_ptr< apollo::cyber::proto::RoleAttributes > > apollo_attrs_
 
std::vector< std::shared_ptr< apollo::cyber::ReaderBase > > apollo_readers_
 
std::vector< std::shared_ptr< apollo::cyber::WriterBase > > apollo_writers_
 
const std::string node_name_ = "converter_base"
 
ConverterConf converter_conf_
 

详细描述

在文件 odometry_msg_converter.h52 行定义.

构造及析构函数说明

◆ OdometryMsgConverter()

apollo::cyber::OdometryMsgConverter::OdometryMsgConverter ( )
inline

在文件 odometry_msg_converter.h56 行定义.

56{}

◆ ~OdometryMsgConverter()

apollo::cyber::OdometryMsgConverter::~OdometryMsgConverter ( )
inline

在文件 odometry_msg_converter.h57 行定义.

57{}

成员函数说明

◆ ConvertMsg()

bool apollo::cyber::OdometryMsgConverter::ConvertMsg ( InputTypes< RosOdometryMsgPtr > &  in,
OutputTypes< OdometryOutputMsgPtr > &  out 
)
virtual

convert the message between ros and apollo

参数
InputTypesinput message container
OutputTypesoutput message container
返回
result, true for success

在文件 odometry_msg_converter.cc22 行定义.

23 {
24#ifdef ENABLE_ROS_MSG
25 auto ros_odometry_ptr = std::get<0>(in.values);
26 auto& ros_odometry = (*ros_odometry_ptr);
27
28 auto odometry_msg = std::get<0>(out.values);
29
30 auto unix_msg_time =
31 ros_odometry.header.stamp.sec + ros_odometry.header.stamp.nanosec / 1e9;
32 odometry_msg->mutable_header()->set_timestamp_sec(unix_msg_time);
33 odometry_msg->mutable_header()->set_module_name("gnss");
34 odometry_msg->mutable_localization()->mutable_position()->set_x(
35 ros_odometry.pose.pose.position.x);
36 odometry_msg->mutable_localization()->mutable_position()->set_y(
37 ros_odometry.pose.pose.position.y);
38 odometry_msg->mutable_localization()->mutable_position()->set_z(
39 ros_odometry.pose.pose.position.z);
40 odometry_msg->mutable_localization()->mutable_linear_velocity()->set_x(
41 ros_odometry.twist.twist.linear.x);
42 odometry_msg->mutable_localization()->mutable_linear_velocity()->set_y(
43 ros_odometry.twist.twist.linear.y);
44 odometry_msg->mutable_localization()->mutable_linear_velocity()->set_z(
45 ros_odometry.twist.twist.linear.z);
46 odometry_msg->mutable_localization()->mutable_angular_velocity()->set_x(
47 ros_odometry.twist.twist.angular.x);
48 odometry_msg->mutable_localization()->mutable_angular_velocity()->set_y(
49 ros_odometry.twist.twist.angular.y);
50 odometry_msg->mutable_localization()->mutable_angular_velocity()->set_z(
51 ros_odometry.twist.twist.angular.z);
52 odometry_msg->mutable_localization()->mutable_orientation()->set_qx(
53 ros_odometry.pose.pose.orientation.x);
54 odometry_msg->mutable_localization()->mutable_orientation()->set_qy(
55 ros_odometry.pose.pose.orientation.y);
56 odometry_msg->mutable_localization()->mutable_orientation()->set_qz(
57 ros_odometry.pose.pose.orientation.z);
58 odometry_msg->mutable_localization()->mutable_orientation()->set_qw(
59 ros_odometry.pose.pose.orientation.w);
60
61#endif
62 return true;
63}

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