autoware::localization::localization_common::PoseInitializerBase< Derived > Class Template Reference
#include <initialization.hpp>
Inheritance diagram for autoware::localization::localization_common::PoseInitializerBase< Derived >:
Collaboration diagram for autoware::localization::localization_common::PoseInitializerBase< Derived >:
Public Member Functions | |
| 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< Derived > | |
| const Derived & | impl () const |
| Derived & | impl () |
Detailed Description
template<typename Derived>
class autoware::localization::localization_common::PoseInitializerBase< Derived >
The Pose initializer helps initialize relative localizer algorithms with an initial guess. Extrapolation policy must be defined within the implementation class.
- Template Parameters
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Derived CRTP implementation class
Member Function Documentation
◆ guess()
template<typename Derived >
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inline |
Guess the pose at a given time point. This function will look the transform up in the transform graph between the specified frames. If extrapolation is required, the behavior is determined by the implementation class. tf2 lookup may generate exceptions if the lookup fails in other ways. For details, see tf2::BufferCore class.
- Parameters
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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. "map") source_frame Source frame of the transform. (i.e. "base_link")
- Returns
- The transform at the given time point
The documentation for this class was generated from the following file: