tf_kdl.h

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#ifndef CONVERSIONS_TF_KDL_H
#define CONVERSIONS_TF_KDL_H
 
#include "kdl_conversions/kdl_msg.h" //backwards compatability for deprecated methods
#include "tf/transform_datatypes.h"
#include "kdl/frames.hpp"
 
#include <geometry_msgs/Pose.h>
#include <geometry_msgs/Twist.h>
 
#include <ros/macros.h>
 
namespace tf
{
 
void poseTFToKDL(const tf::Pose &t, KDL::Frame &k);
 
void poseKDLToTF(const KDL::Frame &k, tf::Pose &t);
 
void quaternionTFToKDL(const tf::Quaternion &t, KDL::Rotation &k);
 
void quaternionKDLToTF(const KDL::Rotation &k, tf::Quaternion &t);
 
void transformTFToKDL(const tf::Transform &t, KDL::Frame &k);
 
void transformKDLToTF(const KDL::Frame &k, tf::Transform &t);
 
void vectorTFToKDL(const tf::Vector3 &t, KDL::Vector &k);
 
void vectorKDLToTF(const KDL::Vector &k, tf::Vector3 &t);
 
/* DEPRECATED FUNCTIONS */
ROS_DEPRECATED geometry_msgs::Pose addDelta(const geometry_msgs::Pose &pose, const geometry_msgs::Twist &twist, const double &t);
 
 
ROS_DEPRECATED void PoseTFToKDL(const tf::Pose &t, KDL::Frame &k);
void inline PoseTFToKDL(const tf::Pose &t, KDL::Frame &k) {poseTFToKDL(t, k);}
 
ROS_DEPRECATED void PoseKDLToTF(const KDL::Frame &k, tf::Pose &t);
void inline PoseKDLToTF(const KDL::Frame &k, tf::Pose &t) {poseKDLToTF(k, t);}
 
ROS_DEPRECATED void QuaternionTFToKDL(const tf::Quaternion &t, KDL::Rotation &k);
void inline QuaternionTFToKDL(const tf::Quaternion &t, KDL::Rotation &k) {quaternionTFToKDL(t, k);}
 
ROS_DEPRECATED void QuaternionKDLToTF(const KDL::Rotation &k, tf::Quaternion &t);
void inline QuaternionKDLToTF(const KDL::Rotation &k, tf::Quaternion &t) {quaternionKDLToTF(k, t);}
 
ROS_DEPRECATED void TransformTFToKDL(const tf::Transform &t, KDL::Frame &k);
void inline TransformTFToKDL(const tf::Transform &t, KDL::Frame &k) {transformTFToKDL(t, k);}
 
ROS_DEPRECATED void TransformKDLToTF(const KDL::Frame &k, tf::Transform &t);
void inline TransformKDLToTF(const KDL::Frame &k, tf::Transform &t)  {transformKDLToTF(k, t);}
 
ROS_DEPRECATED void VectorTFToKDL(const tf::Vector3 &t, KDL::Vector &k);
void inline VectorTFToKDL(const tf::Vector3 &t, KDL::Vector &k) {vectorTFToKDL(t, k);}
 
ROS_DEPRECATED void VectorKDLToTF(const KDL::Vector &k, tf::Vector3 &t);
void inline VectorKDLToTF(const KDL::Vector &k, tf::Vector3 &t) {vectorKDLToTF(k, t);}
 
 
} // namespace tf
 
#endif