tf_kdl.h
Go to the documentation of this file.00001 /* 00002 * Copyright (c) 2009, Willow Garage, Inc. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the Willow Garage, Inc. nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 */ 00029 00030 #ifndef CONVERSIONS_TF_KDL_H 00031 #define CONVERSIONS_TF_KDL_H 00032 00033 #include "tf/transform_datatypes.h" 00034 #include "kdl/frames.hpp" 00035 #include "geometry_msgs/Twist.h" 00036 #include "geometry_msgs/Pose.h" 00037 00038 namespace tf 00039 { 00041 void VectorTFToKDL(const tf::Vector3& t, KDL::Vector& k); 00042 00044 void RotationTFToKDL(const tf::Quaternion& t, KDL::Rotation& k); 00045 00047 void TransformTFToKDL(const tf::Transform &t, KDL::Frame &k); 00048 00050 void PoseTFToKDL(const tf::Pose& pose, KDL::Frame& frame); 00051 00053 void TransformKDLToTF(const KDL::Frame &k, tf::Transform &t); 00054 00056 void PoseKDLToTF(const KDL::Frame& frame, tf::Pose& pose); 00057 00059 void TwistKDLToMsg(const KDL::Twist &t, geometry_msgs::Twist &m); 00060 00062 void TwistMsgToKDL(const geometry_msgs::Twist &m, KDL::Twist &t); 00063 00065 void PoseMsgToKDL(const geometry_msgs::Pose &p, KDL::Frame &t); 00066 00068 void PoseKDLToMsg(const KDL::Frame &t, geometry_msgs::Pose &p); 00069 00070 00071 00072 /* DEPRECATED FUNCTIONS */ 00074 geometry_msgs::Pose addDelta(const geometry_msgs::Pose &pose, const geometry_msgs::Twist &twist, const double &t) __attribute__((deprecated)); 00075 00076 } 00077 00078 #endif