apollo::perception::onboard::TransformWrapper Class Reference

#include <transform_wrapper.h>

Collaboration diagram for apollo::perception::onboard::TransformWrapper:

Public Member Functions
	TransformWrapper ()
	~TransformWrapper ()=default
void	Init (const std::string &sensor2novatel_tf2_child_frame_id)
void	Init (const std::string &sensor2novatel_tf2_frame_id, const std::string &sensor2novatel_tf2_child_frame_id, const std::string &novatel2world_tf2_frame_id, const std::string &novatel2world_tf2_child_frame_id)
bool	GetSensor2worldTrans (double timestamp, Eigen::Affine3d *sensor2world_trans, Eigen::Affine3d *novatel2world_trans=nullptr)
bool	GetExtrinsics (Eigen::Affine3d *trans)
bool	GetTrans (double timestamp, Eigen::Affine3d *trans, const std::string &frame_id, const std::string &child_frame_id)
bool	GetExtrinsicsBySensorId (const std::string &from_sensor_id, const std::string &to_sensor_id, Eigen::Affine3d *trans)

Protected Member Functions
bool	QueryTrans (double timestamp, StampedTransform *trans, const std::string &frame_id, const std::string &child_frame_id)

Constructor & Destructor Documentation

TransformWrapper()

apollo::perception::onboard::TransformWrapper::TransformWrapper ( )

inline

~TransformWrapper()

apollo::perception::onboard::TransformWrapper::~TransformWrapper ( )

default

Member Function Documentation

GetExtrinsics()

bool apollo::perception::onboard::TransformWrapper::GetExtrinsics

(

Eigen::Affine3d *

trans

)

GetExtrinsicsBySensorId()

bool apollo::perception::onboard::TransformWrapper::GetExtrinsicsBySensorId	(	const std::string &	from_sensor_id,
		const std::string &	to_sensor_id,
		Eigen::Affine3d *	trans
	)

GetSensor2worldTrans()

bool apollo::perception::onboard::TransformWrapper::GetSensor2worldTrans	(	double	timestamp,
		Eigen::Affine3d *	sensor2world_trans,
		Eigen::Affine3d *	novatel2world_trans = nullptr
	)

GetTrans()

bool apollo::perception::onboard::TransformWrapper::GetTrans	(	double	timestamp,
		Eigen::Affine3d *	trans,
		const std::string &	frame_id,
		const std::string &	child_frame_id
	)

Init() [1/2]

void apollo::perception::onboard::TransformWrapper::Init

(

const std::string &

sensor2novatel_tf2_child_frame_id

)

Init() [2/2]

void apollo::perception::onboard::TransformWrapper::Init	(	const std::string &	sensor2novatel_tf2_frame_id,
		const std::string &	sensor2novatel_tf2_child_frame_id,
		const std::string &	novatel2world_tf2_frame_id,
		const std::string &	novatel2world_tf2_child_frame_id
	)

QueryTrans()

bool apollo::perception::onboard::TransformWrapper::QueryTrans ( double  timestamp, StampedTransform *  trans, const std::string &  frame_id, const std::string &  child_frame_id  )

protected

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The documentation for this class was generated from the following file:

• modules/perception/onboard/transform_wrapper/transform_wrapper.h