C++ (Cpp) initialize_transformations Examples

Example #1

File: xsens_xyz_handler.cpp Project: LCAD-UFES/carmen_lcad

xsens_xyz_handler *
create_xsens_xyz_handler(int argc, char **argv, carmen_fused_odometry_parameters *parameters)
{
	fused_odometry_parameters = parameters;
	
	if (xsens_sensor_vector == NULL)
		xsens_sensor_vector = (sensor_vector_xsens_xyz **) calloc(XSENS_SENSOR_VECTOR_SIZE, sizeof(sensor_vector_xsens_xyz *));

	memset(&xsens_handler, 0, sizeof(xsens_handler));

	initialize_carmen_parameters(&xsens_handler, argc, argv);
	initialize_transformations(&xsens_handler);
	subscribe_messages();

	return (&xsens_handler);	
}

Example #2

File: tf_helper.cpp Project: ulyssesrr/carmen_lcad

carmen_pose_3D_t
get_velodyne_pose_in_relation_to_car_helper(int argc, char** argv)
{	
	static int initialized = 0;

	if(initialized == 0)
	{
		initialize_carmen_parameters(argc, argv);
		initialize_transformations();

		initialized = 1;
	}

	tf::StampedTransform car_to_velodyne;
	transformer.lookupTransform(car_tf_name, velodyne_tf_name, tf::Time(0), car_to_velodyne);
	
	carmen_pose_3D_t velodyne_pose = tf_transform_to_carmen_pose_3D(car_to_velodyne);

	return velodyne_pose;
}