transform_functions.h
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29 
32 #ifndef TF2_TRANSFORM_FUNCTIONS_H
33 #define TF2_TRANSFORM_FUNCTIONS_H
34 
36 #include <tf2/exceptions.h>
37 #include <geometry_msgs/TransformStamped.h>
38 
39 namespace tf2 {
40 
50 template <class T>
51  void doTransform(const T& data_in, T& data_out, const geometry_msgs::TransformStamped& transform);
52 
58 template <class T>
59  const ros::Time& getTimestamp(const T& t);
60 
66 template <class T>
67  const std::string& getFrameId(const T& t);
68 
69 /* An implementation for Stamped<P> datatypes */
70 template <class P>
72  {
73  return t.stamp_;
74  }
75 
76 /* An implementation for Stamped<P> datatypes */
77 template <class P>
78  const std::string& getFrameId(const tf2::Stamped<P>& t)
79  {
80  return t.frame_id_;
81  }
82 
89 template<typename A, typename B>
90  B toMsg(const A& a);
91 
98 template<typename A, typename B>
99  void fromMsg(const A&, B& b);
100 
101 }
102 
103 #endif //TF2_TRANSFORM_FUNCTIONS_H
const std::string & getFrameId(const T &t)
Get the frame_id from data.
void doTransform(const T &data_in, T &data_out, const geometry_msgs::TransformStamped &transform)
The templated function expected to be able to do a transform.
ros::Time stamp_
The timestamp associated with this data.
void fromMsg(const A &, B &b)
B toMsg(const A &a)
std::string frame_id_
The frame_id associated this data.
const ros::Time & getTimestamp(const T &t)
Get the timestamp from data.
The data type which will be cross compatable with geometry_msgs This is the tf2 datatype equivilant o...


tf2
Author(s): Tully Foote, Eitan Marder-Eppstein, Wim Meeussen
autogenerated on Fri Oct 18 2019 03:16:51