add convenience function for motion compensated frame

ros-box · Jun 4, 2020 · b744a50 · b744a50
1 parent c69ee11
commit b744a50
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Showing 2 changed files with 14 additions and 0 deletions.
diff --git a/include/a2d2_to_ros/name_utils.hpp b/include/a2d2_to_ros/name_utils.hpp
@@ -28,6 +28,13 @@
 
 namespace a2d2_to_ros {
 
+/**
+ * @brief Convenience method to generate a standard TF frame name.
+ * @note This function has no test coverage.
+ */
+std::string tf_motion_compensated_sensor_frame_name(
+    const std::string& sensor_type, const std::string& sensor_frame);
+
 /**
  * @brief Convenience method to generate a standard TF frame name.
  * @note This function has no test coverage.

diff --git a/src/a2d2_to_ros/name_utils.cpp b/src/a2d2_to_ros/name_utils.cpp
@@ -29,6 +29,13 @@ namespace a2d2_to_ros {
 
 //------------------------------------------------------------------------------
 
+std::string tf_motion_compensated_sensor_frame_name(
+    const std::string& sensor_type, const std::string& sensor_frame) {
+  return tf_frame_name(sensor_type, sensor_frame + "_motion_compensated");
+}
+
+//------------------------------------------------------------------------------
+
 std::string tf_frame_name(const std::string& sensor_type,
                           const std::string& sensor_frame) {
   return (sensor_type + "_" + sensor_frame);