本文整理汇总了C++中tf::TransformListener::getParent方法的典型用法代码示例。如果您正苦于以下问题：C++ TransformListener::getParent方法的具体用法？C++ TransformListener::getParent怎么用？C++ TransformListener::getParent使用的例子？那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类tf::TransformListener的用法示例。
在下文中一共展示了TransformListener::getParent方法的1个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。
示例1: broadcastKinectTransform
//Broadcasts the transform from the kinect_rgb_optical frame to the ground frame
//If kinect_rgb_optical has a grandparent (i.e. kinect_link), then a transform from the kinect_link frame to the ground frame is broadcasted such that the given transform is still as specified above
void broadcastKinectTransform(const btTransform& transform, const std::string& kinect_rgb_optical, const std::string& ground, tf::TransformBroadcaster& broadcaster, const tf::TransformListener& listener) {
std::string link;
if (listener.getParent(kinect_rgb_optical, ros::Time(0), link) && listener.getParent(link, ros::Time(0), link)) {
tf::StampedTransform tfTransform;
listener.lookupTransform (link, kinect_rgb_optical, ros::Time(0), tfTransform);
broadcaster.sendTransform(tf::StampedTransform(transform * tfTransform.asBt().inverse(), ros::Time::now(), ground, link));
} else {
broadcaster.sendTransform(tf::StampedTransform(transform, ros::Time::now(), ground, kinect_rgb_optical));
}
}