autoware::perception::tracking::details::ShapeTransformer Class Reference

Transform a 3D prism shape msg into a transformed vector points. More...

#include <greedy_roi_associator.hpp>

Public Types
using	Point32 = geometry_msgs::msg::Point32

Public Member Functions
	ShapeTransformer (const geometry_msgs::msg::Transform &tf)
std::vector< Point32 >	operator() (const autoware_auto_perception_msgs::msg::Shape &shape, const geometry_msgs::msg::Point &centroid, const geometry_msgs::msg::Quaternion &orientation) const
	Transform the bottom and top face vertices of the given shape. No order is preserved. More...

Detailed Description

Transform a 3D prism shape msg into a transformed vector points.

Member Typedef Documentation

Point32

using autoware::perception::tracking::details::ShapeTransformer::Point32 = geometry_msgs::msg::Point32

Constructor & Destructor Documentation

ShapeTransformer()

autoware::perception::tracking::details::ShapeTransformer::ShapeTransformer ( const geometry_msgs::msg::Transform &  tf )

explicit

Member Function Documentation

operator()()

std::vector< geometry_msgs::msg::Point32 > autoware::perception::tracking::details::ShapeTransformer::operator()	(	const autoware_auto_perception_msgs::msg::Shape &	shape,
		const geometry_msgs::msg::Point &	centroid,
		const geometry_msgs::msg::Quaternion &	orientation
	)		const

Transform the bottom and top face vertices of the given shape. No order is preserved.

Parameters

shape	Shape msg with corners in object-local coordinate
centroid	Centroid of the object whose corners are defined in shape
orientation	Orientation of the object

Returns

Transformed vertices of the bottom and the top face.

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

• greedy_roi_associator.hpp
• greedy_roi_associator.cpp