#include <static_transform_component.h>

类 apollo::transform::StaticTransformComponent 继承关系图:

apollo::transform::StaticTransformComponent 的协作图:

Public 成员函数
	StaticTransformComponent ()=default

	~StaticTransformComponent ()=default

bool	Init () override

Public 成员函数继承自 apollo::cyber::Component< M0, M1, M2, M3 >
	Component ()

	~Component () override

bool	Initialize (const ComponentConfig &config) override
	init the component by protobuf object.

bool	Process (const std::shared_ptr< M0 > &msg0, const std::shared_ptr< M1 > &msg1, const std::shared_ptr< M2 > &msg2, const std::shared_ptr< M3 > &msg3)

Public 成员函数继承自 apollo::cyber::ComponentBase
virtual	~ComponentBase ()

virtual bool	Initialize (const TimerComponentConfig &config)

virtual void	Shutdown ()

template<typename T >
bool	GetProtoConfig (T *config) const

额外继承的成员函数
Public 类型继承自 apollo::cyber::ComponentBase
template<typename M >
using	Reader = cyber::Reader< M >

Protected 成员函数继承自 apollo::cyber::ComponentBase
virtual void	Clear ()

const std::string &	ConfigFilePath () const

void	LoadConfigFiles (const ComponentConfig &config)

void	LoadConfigFiles (const TimerComponentConfig &config)

Protected 属性继承自 apollo::cyber::ComponentBase
std::atomic< bool >	is_shutdown_ = {false}

std::shared_ptr< Node >	node_ = nullptr

std::string	config_file_path_ = ""

std::vector< std::shared_ptr< ReaderBase > >	readers_

详细描述

在文件 static_transform_component.h 第 30 行定义.

构造及析构函数说明

◆ StaticTransformComponent()

apollo::transform::StaticTransformComponent::StaticTransformComponent ( )

default

◆ ~StaticTransformComponent()

apollo::transform::StaticTransformComponent::~StaticTransformComponent ( )

default

成员函数说明

◆ Init()

bool apollo::transform::StaticTransformComponent::Init ( )

overridevirtual

实现了 apollo::cyber::ComponentBase.

在文件 static_transform_component.cc 第 27 行定义.

                                    {
  if (!GetProtoConfig(&conf_)) {
    AERROR << "Parse conf file failed, " << ConfigFilePath();
    return false;
  }
  cyber::proto::RoleAttributes attr;
  attr.set_channel_name(FLAGS_tf_static_topic);
  attr.mutable_qos_profile()->CopyFrom(
      cyber::transport::QosProfileConf::QOS_PROFILE_TF_STATIC);
  writer_ = node_->CreateWriter<TransformStampeds>(attr);
  SendTransforms();
  return true;
}

该类的文档由以下文件生成:

modules/transform/static_transform_component.h
modules/transform/static_transform_component.cc