tf_kdl.h
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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 "kdl_conversions/kdl_msg.h" //backwards compatability for deprecated methods
00034 #include "tf/transform_datatypes.h"
00035 #include "kdl/frames.hpp"
00036 
00037 #include <geometry_msgs/Pose.h>
00038 #include <geometry_msgs/Twist.h>
00039 
00040 namespace tf
00041 {
00042 
00044 void poseTFToKDL(const tf::Pose &t, KDL::Frame &k);
00045 
00047 void poseKDLToTF(const KDL::Frame &k, tf::Pose &t);
00048 
00050 void quaternionTFToKDL(const tf::Quaternion &t, KDL::Rotation &k);
00051 
00053 void quaternionKDLToTF(const KDL::Rotation &k, tf::Quaternion &t);
00054 
00056 void transformTFToKDL(const tf::Transform &t, KDL::Frame &k);
00057 
00059 void transformKDLToTF(const KDL::Frame &k, tf::Transform &t);
00060 
00062 void vectorTFToKDL(const tf::Vector3 &t, KDL::Vector &k);
00063 
00065 void vectorKDLToTF(const KDL::Vector &k, tf::Vector3 &t);
00066 
00067 /* DEPRECATED FUNCTIONS */
00069 geometry_msgs::Pose addDelta(const geometry_msgs::Pose &pose, const geometry_msgs::Twist &twist, const double &t)  __attribute__((deprecated));
00070 
00071 
00073 void PoseTFToKDL(const tf::Pose &t, KDL::Frame &k) __attribute__((deprecated));
00074 void inline PoseTFToKDL(const tf::Pose &t, KDL::Frame &k) {poseTFToKDL(t, k);};
00075 
00077 void PoseKDLToTF(const KDL::Frame &k, tf::Pose &t) __attribute__((deprecated));
00078 void inline PoseKDLToTF(const KDL::Frame &k, tf::Pose &t) {poseKDLToTF(k, t);};
00079 
00081 void QuaternionTFToKDL(const tf::Quaternion &t, KDL::Rotation &k) __attribute__((deprecated));
00082 void inline QuaternionTFToKDL(const tf::Quaternion &t, KDL::Rotation &k) {quaternionTFToKDL(t, k);};
00083 
00085 void QuaternionKDLToTF(const KDL::Rotation &k, tf::Quaternion &t) __attribute__((deprecated));
00086 void inline QuaternionKDLToTF(const KDL::Rotation &k, tf::Quaternion &t) {quaternionKDLToTF(k, t);};
00087 
00089 void TransformTFToKDL(const tf::Transform &t, KDL::Frame &k) __attribute__((deprecated));
00090 void inline TransformTFToKDL(const tf::Transform &t, KDL::Frame &k) {transformTFToKDL(t, k);};
00091 
00093 void TransformKDLToTF(const KDL::Frame &k, tf::Transform &t) __attribute__((deprecated));
00094 void inline TransformKDLToTF(const KDL::Frame &k, tf::Transform &t)  {transformKDLToTF(k, t);};
00095 
00097 void VectorTFToKDL(const tf::Vector3 &t, KDL::Vector &k) __attribute__((deprecated));
00098 void inline VectorTFToKDL(const tf::Vector3 &t, KDL::Vector &k) {vectorTFToKDL(t, k);};
00099 
00101 void VectorKDLToTF(const KDL::Vector &k, tf::Vector3 &t) __attribute__((deprecated));
00102 void inline VectorKDLToTF(const KDL::Vector &k, tf::Vector3 &t) {vectorKDLToTF(k, t);};
00103 
00104 
00105 } // namespace tf
00106 
00107 #endif


tf_conversions
Author(s): Tully Foote
autogenerated on Mon Oct 6 2014 00:18:24