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. More...

#include <transform_broadcaster.h>

Collaboration diagram for apollo::transform::TransformBroadcaster:

Public Member Functions
	TransformBroadcaster (const std::shared_ptr< cyber::Node > &node)
	Constructor (needs a cyber::Node reference) More...

void	SendTransform (const TransformStamped &transform)
	Send a TransformStamped message The stamped data structure includes frame_id, and time, and parent_id already. More...

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. More...

Detailed Description

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.

Constructor & Destructor Documentation

◆ TransformBroadcaster()

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

explicit

Constructor (needs a cyber::Node reference)

Member Function Documentation

◆ SendTransform() [1/2]

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.

◆ SendTransform() [2/2]

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.

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

modules/transform/transform_broadcaster.h