autoware::localization::localization_common::BestEffortInitializer Class Reference
#include <initialization.hpp>
Inheritance diagram for autoware::localization::localization_common::BestEffortInitializer:
Collaboration diagram for autoware::localization::localization_common::BestEffortInitializer:
Public Member Functions | |
| PoseT | extrapolate (const tf2::BufferCore &tf_graph, tf2::TimePoint time_point, const std::string &target_frame, const std::string &source_frame) |
 Public Member Functions inherited from autoware::localization::localization_common::PoseInitializerBase< BestEffortInitializer > | |
| PoseT | guess (const tf2::BufferCore &tf_graph, tf2::TimePoint time_point, const std::string &target_frame, const std::string &source_frame) |
Additional Inherited Members | |
| Protected Member Functions inherited from autoware::common::helper_functions::crtp< BestEffortInitializer > | |
| const BestEffortInitializer & | impl () const |
| BestEffortInitializer & | impl () |
Detailed Description
Pose initialization implementation where the extrapolation policy is to simply use the latest available transform.
Member Function Documentation
◆ extrapolate()
| geometry_msgs::msg::TransformStamped autoware::localization::localization_common::BestEffortInitializer::extrapolate | ( | const tf2::BufferCore & | tf_graph, |
| tf2::TimePoint | time_point, | ||
| const std::string & | target_frame, | ||
| const std::string & | source_frame | ||
| ) |
Get the latest available transform.
- Parameters
-
tf_graph Transform graph that contains all the transforms to look up. time_point Time to guess the pose. target_frame Target frame of the transform. (i.e. "base_link") source_frame Source frame of the transform. (i.e. "map")
- Returns
- The transform at the given time point
The documentation for this class was generated from the following files: