AutoCar  v1.0.0
tf_factory.h
1 #ifndef TF_FACTORY_H
2 #define TF_FACTORY_H
3 #include<ros/ros.h>
4 #include<tf/transform_broadcaster.h>
5 #include <opencv2/opencv.hpp>
6 
7 namespace autocar
8 {
9 namespace tf_mul
10 {
12 {
13 public:
14  tf_factory();
18  void create_tf();
19  tf::Quaternion get_rotate();
20  tf::Vector3 get_transf();
21 private:
22  //> Rotate parameters
23  tf::Quaternion *quaternion;
24  //> Translation parameters
25  tf::Vector3 *trans;
26  cv::Mat T;
27  cv::Mat R;
28 };
29 }
30 }
31 
32 #endif // TF_FACTORY_H
Definition: vel2odom.h:5
void create_tf()
Create a new coordinate transformation.
Definition: tf_factory.h:11