Apollo 10.0
自动驾驶开放平台
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This class provides an easy way to publish coordinate frame transform information. 更多...
#include <transform_broadcaster.h>
Public 成员函数 | |
TransformBroadcaster (const std::shared_ptr< cyber::Node > &node) | |
Constructor (needs a cyber::Node reference) | |
void | SendTransform (const TransformStamped &transform) |
Send a TransformStamped message The stamped data structure includes frame_id, and time, and parent_id already. | |
void | SendTransform (const std::vector< TransformStamped > &transforms) |
Send a vector of TransformStamped messages The stamped data structure includes frame_id, and time, and parent_id already. | |
This class provides an easy way to publish coordinate frame transform information.
It will handle all the messaging and stuffing of messages. And the function prototypes lay out all the necessary data needed for each message.
在文件 transform_broadcaster.h 第 34 行定义.
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explicit |
Constructor (needs a cyber::Node reference)
在文件 transform_broadcaster.cc 第 24 行定义.
void apollo::transform::TransformBroadcaster::SendTransform | ( | const std::vector< TransformStamped > & | transforms | ) |
Send a vector of TransformStamped messages The stamped data structure includes frame_id, and time, and parent_id already.
在文件 transform_broadcaster.cc 第 38 行定义.
void apollo::transform::TransformBroadcaster::SendTransform | ( | const TransformStamped & | transform | ) |
Send a TransformStamped message The stamped data structure includes frame_id, and time, and parent_id already.
在文件 transform_broadcaster.cc 第 32 行定义.