Class ManagedTransformBuffer

Class Documentation

class ManagedTransformBuffer

Public Functions

inline explicit ManagedTransformBuffer(rclcpp::Node *node, const bool &has_static_tf_only)
inline bool get_transform(const std::string &target_frame, const std::string &source_frame, Eigen::Matrix4f &eigen_transform)
inline bool transform_pointcloud(const std::string &target_frame, const sensor_msgs::msg::PointCloud2 &cloud_in, sensor_msgs::msg::PointCloud2 &cloud_out)

Transforms a point cloud from one frame to another.

Parameters:

  • target_frame – The target frame to transform the point cloud to.

  • cloud_in – The input point cloud to be transformed.

  • cloud_out – The transformed point cloud.

Returns:

True if the transformation is successful, false otherwise.