tf2  master
tf2 maintains the relationship between coordinate frames in a tree structure buffered in time, and lets the user transform points, vectors, etc between any two coordinate frames at any desired point in time.
transform_storage.h
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29 
32 #ifndef TF2_TRANSFORM_STORAGE_H
33 #define TF2_TRANSFORM_STORAGE_H
34 
35 #include <tf2/LinearMath/Vector3.h>
37 
38 #include "tf2/time.h"
39 #include <tf2/visibility_control.h>
40 
41 namespace tf2
42 {
43 
44 
45 
46 typedef uint32_t CompactFrameID;
47 
50 {
51 public:
55  TransformStorage(const TimePoint& stamp, const Quaternion& q, const Vector3& t, CompactFrameID frame_id,
56  CompactFrameID child_frame_id);
57 
60  {
61  *this = rhs;
62  }
63 
66  {
67 #if 01
68  rotation_ = rhs.rotation_;
70  stamp_ = rhs.stamp_;
71  frame_id_ = rhs.frame_id_;
73 #endif
74  return *this;
75  }
76 
78  tf2::Vector3 translation_;
82 };
83 
84 }
85 
86 #endif // TF2_TRANSFORM_STORAGE_H
tf2::TransformStorage::TransformStorage
TransformStorage()
tf2::TransformStorage::TransformStorage
TransformStorage(const TransformStorage &rhs)
Definition: transform_storage.h:59
tf2::TransformStorage::operator=
TransformStorage & operator=(const TransformStorage &rhs)
Definition: transform_storage.h:65
tf2::TransformStorage::stamp_
TimePoint stamp_
Definition: transform_storage.h:79
tf2::TransformStorage::child_frame_id_
CompactFrameID child_frame_id_
Definition: transform_storage.h:81
tf2::CompactFrameID
uint32_t CompactFrameID
Definition: transform_storage.h:46
tf2::TransformStorage::rotation_
tf2::Quaternion rotation_
Definition: transform_storage.h:77
tf2::TransformStorage
Storage for transforms and their parent.
Definition: transform_storage.h:49
time.h
std::chrono::time_point< std::chrono::system_clock, Duration >
Quaternion.h
tf2::TransformStorage::translation_
tf2::Vector3 translation_
Definition: transform_storage.h:78
tf2::TransformStorage::frame_id_
CompactFrameID frame_id_
Definition: transform_storage.h:80
visibility_control.h
Vector3.h
tf2
Definition: buffer_core.h:55
TF2_PUBLIC
#define TF2_PUBLIC
Definition: visibility_control.h:58
tf2::Quaternion
The Quaternion implements quaternion to perform linear algebra rotations in combination with Matrix3x...
Definition: Quaternion.h:29