rm::lpss::tf::Broadcaster类 参考

动态坐标变换发布器 更多...

#include <rmvl/lpss/transform.hpp>

rm::lpss::tf::Broadcaster 的协作图:

Public 成员函数
	Broadcaster (std::string_view name, Node &node)
	创建同步动态坐标变换发布器
	Broadcaster (std::string_view name, async::Node &node)
	创建异步动态坐标变换发布器
	~Broadcaster ()
	Broadcaster (const Broadcaster &)=delete
Broadcaster &	operator= (const Broadcaster &)=delete
void	send (const msg::TransformStamped &transform)
	发布单条动态坐标变换
void	send (const msg::TF &transforms)
	批量发布动态坐标变换
bool	invalid () const noexcept
	判断底层发布器是否无效

详细描述

动态坐标变换发布器

发布到 <name>/tf，Node 的生命周期必须长于发布器。

构造及析构函数说明

Broadcaster() [1/3]

rm::lpss::tf::Broadcaster::Broadcaster	(	std::string_view	name,
		Node &	node )

创建同步动态坐标变换发布器

参数

[in]	name	话题隔离名称，发布话题为 <name>/tf
[in]	node	同步 LPSS 节点

Broadcaster() [2/3]

rm::lpss::tf::Broadcaster::Broadcaster	(	std::string_view	name,
		async::Node &	node )

创建异步动态坐标变换发布器

参数

[in]	name	话题隔离名称，发布话题为 <name>/tf
[in]	node	异步 LPSS 节点

~Broadcaster()

rm::lpss::tf::Broadcaster::~Broadcaster

(

)

Broadcaster() [3/3]

rm::lpss::tf::Broadcaster::Broadcaster ( const Broadcaster & )

delete

函数调用图:

成员函数说明

invalid()

bool rm::lpss::tf::Broadcaster::invalid ( ) const

noexcept

判断底层发布器是否无效

operator=()

Broadcaster & rm::lpss::tf::Broadcaster::operator= ( const Broadcaster & )

delete

函数调用图:

send() [1/2]

void rm::lpss::tf::Broadcaster::send

(

const msg::TF &

transforms

)

批量发布动态坐标变换

send() [2/2]

void rm::lpss::tf::Broadcaster::send

(

const msg::TransformStamped &

transform

)

发布单条动态坐标变换