Apollo 10.0
自动驾驶开放平台
transform_broadcaster.h
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16
17#pragma once
18
19#include <memory>
20#include <vector>
21
22#include "cyber/cyber.h"
23#include "modules/common_msgs/transform_msgs/transform.pb.h"
24
25namespace apollo {
26namespace transform {
27
35 public:
37 explicit TransformBroadcaster(const std::shared_ptr<cyber::Node>& node);
38
42 void SendTransform(const TransformStamped& transform);
43
47 void SendTransform(const std::vector<TransformStamped>& transforms);
48
49 private:
50 std::shared_ptr<cyber::Node> node_;
51 std::shared_ptr<cyber::Writer<TransformStampeds>> writer_;
52};
53} // namespace transform
54} // namespace apollo
This class provides an easy way to publish coordinate frame transform information.
void SendTransform(const TransformStamped &transform)
Send a TransformStamped message The stamped data structure includes frame_id, and time,...
class register implement
Definition arena_queue.h:37