Apollo
10.0
自动驾驶开放平台
transform_broadcaster.h
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/******************************************************************************
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* Copyright 2018 The Apollo Authors. All Rights Reserved.
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*****************************************************************************/
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#pragma once
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#include <memory>
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#include <vector>
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#include "
cyber/cyber.h
"
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#include "modules/common_msgs/transform_msgs/transform.pb.h"
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namespace
apollo
{
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namespace
transform {
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class
TransformBroadcaster
{
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public
:
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explicit
TransformBroadcaster
(
const
std::shared_ptr<cyber::Node>& node);
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void
SendTransform
(
const
TransformStamped
& transform);
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void
SendTransform
(
const
std::vector<TransformStamped>& transforms);
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private
:
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std::shared_ptr<cyber::Node> node_;
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std::shared_ptr<cyber::Writer<TransformStampeds>> writer_;
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};
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}
// namespace transform
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}
// namespace apollo
apollo::transform::TransformBroadcaster
This class provides an easy way to publish coordinate frame transform information.
Definition
transform_broadcaster.h:34
apollo::transform::TransformBroadcaster::SendTransform
void SendTransform(const TransformStamped &transform)
Send a TransformStamped message The stamped data structure includes frame_id, and time,...
Definition
transform_broadcaster.cc:32
cyber.h
apollo
class register implement
Definition
arena_queue.h:37
apollo::transform::TransformStamped
Definition
transform.proto:13
modules
transform
transform_broadcaster.h