kdl_msg.h
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00001 /*
00002  * Copyright (c) 2012, 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  * Author: Adam Leeper
00030  */
00031 
00032 #ifndef CONVERSIONS_KDL_MSG_H
00033 #define CONVERSIONS_KDL_MSG_H
00034 
00035 #include "kdl/frames.hpp"
00036 #include <geometry_msgs/Point.h>
00037 #include <geometry_msgs/Pose.h>
00038 #include <geometry_msgs/Quaternion.h>
00039 #include <geometry_msgs/Transform.h>
00040 #include <geometry_msgs/Twist.h>
00041 #include <geometry_msgs/Vector3.h>
00042 #include <geometry_msgs/Wrench.h>
00043 
00044 
00045 namespace tf {
00047 
00049 void pointMsgToKDL(const geometry_msgs::Point &m, KDL::Vector &k);
00050 
00052 void pointKDLToMsg(const KDL::Vector &k, geometry_msgs::Point &m);
00053 
00055 void poseMsgToKDL(const geometry_msgs::Pose &m, KDL::Frame &k);
00056 
00058 void poseKDLToMsg(const KDL::Frame &k, geometry_msgs::Pose &m);
00059 
00061 void quaternionMsgToKDL(const geometry_msgs::Quaternion &m, KDL::Rotation &k);
00062 
00064 void quaternionKDLToMsg(const KDL::Rotation &k, geometry_msgs::Quaternion &m);
00065 
00067 void transformMsgToKDL(const geometry_msgs::Transform &m, KDL::Frame &k);
00068 
00070 void transformKDLToMsg(const KDL::Frame &k, geometry_msgs::Transform &m);
00071 
00073 void twistMsgToKDL(const geometry_msgs::Twist &m, KDL::Twist &k);
00074 
00076 void twistKDLToMsg(const KDL::Twist &k, geometry_msgs::Twist &m);
00077 
00079 void vectorMsgToKDL(const geometry_msgs::Vector3 &m, KDL::Vector &k);
00080 
00082 void vectorKDLToMsg(const KDL::Vector &k, geometry_msgs::Vector3 &m);
00083 
00085 void wrenchMsgToKDL(const geometry_msgs::Wrench &m, KDL::Wrench &k);
00086 
00088 void wrenchKDLToMsg(const KDL::Wrench &k, geometry_msgs::Wrench &m);
00089 
00090 
00091 //Deprecated methods use above:
00093 void PoseMsgToKDL(const geometry_msgs::Pose &m, KDL::Frame &k)__attribute__((deprecated));
00094 
00096 void PoseKDLToMsg(const KDL::Frame &k, geometry_msgs::Pose &m) __attribute__((deprecated));
00097 
00098 
00099 
00101 void TwistMsgToKDL(const geometry_msgs::Twist &m, KDL::Twist &k) __attribute__((deprecated));
00102 
00104 void TwistKDLToMsg(const KDL::Twist &k, geometry_msgs::Twist &m) __attribute__((deprecated));
00105 
00106 
00107 
00108 }
00109 
00110 
00111 #endif
00112 
00113 
00114 


kdl_conversions
Author(s): Adam Leeper
autogenerated on Mon Oct 6 2014 00:12:02