#include <AutowareGNSSPublisher.h>

Inheritance diagram for carla::ros2::AutowareGNSSPublisher:

Classes
class	Impl

Public Member Functions
	AutowareGNSSPublisher (const AutowareGNSSPublisher &)=delete

	AutowareGNSSPublisher (std::string base_topic_name, std::string frame_id)

AutowareGNSSPublisher &	operator= (const AutowareGNSSPublisher &)=delete

bool	Publish () override
	Publishes both topics.

bool	Write (std::int32_t seconds, std::uint32_t nanoseconds, float tx, float ty, float tz, float pitch_deg, float yaw_deg, float roll_deg, double mgrs_offset_x, double mgrs_offset_y, double mgrs_offset_z)
	Fill both pose messages from the sensor's CARLA world transform (translation in meters, rotation pitch/yaw/roll in degrees) plus the MGRS map-origin offset in meters.

	~AutowareGNSSPublisher () override

Public Member Functions inherited from carla::ros2::BasePublisher
	BasePublisher ()=default

	BasePublisher (BasePublisher &&)=delete

	BasePublisher (const BasePublisher &)=delete

	BasePublisher (std::string base_topic_name)

	BasePublisher (std::string base_topic_name, std::string frame_id)

	BasePublisher (void *actor, std::string base_topic_name, std::string frame_id)

void *	GetActor () const noexcept

const std::string &	GetBaseTopicName () const noexcept

const std::string &	GetFrameId () const noexcept

BasePublisher &	operator= (BasePublisher &&)=delete

BasePublisher &	operator= (const BasePublisher &)=delete

virtual	~BasePublisher ()=default

Private Attributes
std::shared_ptr< Impl >	_impl

Additional Inherited Members
Protected Attributes inherited from carla::ros2::BasePublisher
void *	_actor {nullptr}

std::string	_base_topic_name

std::string	_frame_id

Detailed Description

Definition at line 25 of file AutowareGNSSPublisher.h.

Constructor & Destructor Documentation

◆ AutowareGNSSPublisher() [1/2]

carla::ros2::AutowareGNSSPublisher::AutowareGNSSPublisher	(	std::string	base_topic_name,
		std::string	frame_id
	)

Definition at line 30 of file AutowareGNSSPublisher.cpp.

References _impl, carla::ros2::BasePublisher::GetBaseTopicName(), carla::log_error(), and carla::ros2::QosProfile::ReliableVolatile().

◆ ~AutowareGNSSPublisher()

carla::ros2::AutowareGNSSPublisher::~AutowareGNSSPublisher ( )

overridedefault

◆ AutowareGNSSPublisher() [2/2]

carla::ros2::AutowareGNSSPublisher::AutowareGNSSPublisher ( const AutowareGNSSPublisher & )

delete

Member Function Documentation

◆ operator=()

AutowareGNSSPublisher & carla::ros2::AutowareGNSSPublisher::operator= ( const AutowareGNSSPublisher & )

delete

◆ Publish()

bool carla::ros2::AutowareGNSSPublisher::Publish ( )

overridevirtual

Publishes both topics.

Implements carla::ros2::BasePublisher.

Definition at line 77 of file AutowareGNSSPublisher.cpp.

References _impl.

◆ Write()

bool carla::ros2::AutowareGNSSPublisher::Write	(	std::int32_t	seconds,
		std::uint32_t	nanoseconds,
		float	tx,
		float	ty,
		float	tz,
		float	pitch_deg,
		float	yaw_deg,
		float	roll_deg,
		double	mgrs_offset_x,
		double	mgrs_offset_y,
		double	mgrs_offset_z
	)

Fill both pose messages from the sensor's CARLA world transform (translation in meters, rotation pitch/yaw/roll in degrees) plus the MGRS map-origin offset in meters.

Pass {0,0,0} offsets when no georeference is configured.

Definition at line 48 of file AutowareGNSSPublisher.cpp.

References _impl, carla::ros2::BasePublisher::GetFrameId(), carla::ros2::TransformQuaternion::rotation, carla::ros2::TransformFromCarlaRotation(), and carla::ros2::TransformQuaternion::translation.

Member Data Documentation

◆ _impl

std::shared_ptr<Impl> carla::ros2::AutowareGNSSPublisher::_impl

private

Definition at line 49 of file AutowareGNSSPublisher.h.

Referenced by AutowareGNSSPublisher(), Publish(), and Write().

The documentation for this class was generated from the following files:

Classes

Public Member Functions

Private Attributes

Additional Inherited Members