Apollo 10.0
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apollo::transform::TransformBroadcaster类 参考

This class provides an easy way to publish coordinate frame transform information. 更多...

#include <transform_broadcaster.h>

apollo::transform::TransformBroadcaster 的协作图:

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.
 

详细描述

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.h34 行定义.

构造及析构函数说明

◆ TransformBroadcaster()

apollo::transform::TransformBroadcaster::TransformBroadcaster ( const std::shared_ptr< cyber::Node > &  node)
explicit

Constructor (needs a cyber::Node reference)

在文件 transform_broadcaster.cc24 行定义.

26 : node_(node) {
27 cyber::proto::RoleAttributes attr;
28 attr.set_channel_name(FLAGS_tf_topic);
29 writer_ = node_->CreateWriter<TransformStampeds>(attr);
30}

成员函数说明

◆ SendTransform() [1/2]

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.cc38 行定义.

39 {
40 auto message = std::make_shared<TransformStampeds>();
41 *message->mutable_transforms() = {transforms.begin(), transforms.end()};
42 writer_->Write(message);
43}

◆ SendTransform() [2/2]

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.cc32 行定义.

32 {
33 std::vector<TransformStamped> transforms;
34 transforms.emplace_back(transform);
35 SendTransform(transforms);
36}
void SendTransform(const TransformStamped &transform)
Send a TransformStamped message The stamped data structure includes frame_id, and time,...

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