frame_transformer::TransformerBase Class Reference

Transformer base class provides default member variables for tf2 lookup and ros network access. The constructor is also private meaning it must be called by extending classes in an attempt to enforce a construction interface. More...

#include <frame_transformer_base.hpp>

Inheritance diagram for frame_transformer::TransformerBase:

Collaboration diagram for frame_transformer::TransformerBase:

Protected Member Functions
	TransformerBase (const Config &config, std::shared_ptr< tf2_ros::Buffer > buffer, std::shared_ptr< carma_ros2_utils::CarmaLifecycleNode > node)

Protected Attributes
Config	config_
	Transformation configuration. More...
std::shared_ptr< tf2_ros::Buffer >	buffer_
	TF2 Buffer for storing transform history and looking up transforms. More...
std::shared_ptr< carma_ros2_utils::CarmaLifecycleNode >	node_
	Containing node which provides access to the ros network. More...

Detailed Description

Transformer base class provides default member variables for tf2 lookup and ros network access. The constructor is also private meaning it must be called by extending classes in an attempt to enforce a construction interface.

Definition at line 30 of file frame_transformer_base.hpp.

Constructor & Destructor Documentation

TransformerBase()

frame_transformer::TransformerBase::TransformerBase ( const Config &  config, std::shared_ptr< tf2_ros::Buffer >  buffer, std::shared_ptr< carma_ros2_utils::CarmaLifecycleNode >  node  )

inlineprotected

Definition at line 45 of file frame_transformer_base.hpp.

      : config_(config), buffer_(buffer), node_(node) {}

Member Data Documentation

buffer_

std::shared_ptr<tf2_ros::Buffer> frame_transformer::TransformerBase::buffer_

protected

TF2 Buffer for storing transform history and looking up transforms.

Definition at line 39 of file frame_transformer_base.hpp.

Referenced by frame_transformer::Transformer< T >::transform().

config_

Config frame_transformer::TransformerBase::config_

protected

Transformation configuration.

Definition at line 36 of file frame_transformer_base.hpp.

Referenced by frame_transformer::Transformer< T >::Transformer(), and frame_transformer::Transformer< T >::input_callback().

node_

std::shared_ptr<carma_ros2_utils::CarmaLifecycleNode> frame_transformer::TransformerBase::node_

protected

Containing node which provides access to the ros network.

Definition at line 42 of file frame_transformer_base.hpp.

Referenced by frame_transformer::Transformer< T >::Transformer(), and frame_transformer::Transformer< T >::transform().

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

• frame_transformer/include/frame_transformer/frame_transformer_base.hpp