C++ API

tf2

tf2 is the second generation of the tf library.

This library implements the interface defined by tf2::BufferCore.

There is also a Python wrapper with the same API that class this library using CPython bindings.

Code API

The main interface is through the tf2::BufferCore interface.

It uses the exceptions in exceptions.h and the Stamped datatype in transform_datatypes.h.

Conversion Interface

tf2 offers a templated conversion interface for external libraries to specify conversions between tf2-specific data types and user-defined data types. Various templated functions in tf2_ros use the conversion interface to apply transformations from the tf server to these custom datatypes.

The conversion interface is defined in tf2/convert.h.

Some packages that implement this interface:

• tf2_bullet

• tf2_eigen

• tf2_geometry_msgs

• tf2_kdl

• tf2_sensor_msgs

Some tutorials are available at https://docs.ros.org/.

Page Hierarchy

• • Todo List

Class Hierarchy

• • Namespace tf2
    • Namespace tf2::impl
      • Template Class Converter
    • Struct Matrix3x3DoubleData
    • Struct Matrix3x3FloatData
    • Struct TransformDoubleData
    • Struct TransformFloatData
    • Struct Vector3DoubleData
    • Struct Vector3FloatData
    • Class BufferCore
      • Struct BufferCore::TransformableRequest
    • Class BufferCoreInterface
    • Class ConnectivityException
    • Class ExtrapolationException
    • Class InvalidArgumentException
    • Class LookupException
    • Class Matrix3x3
    • Class Quaternion
    • Template Class Stamped
    • Class StaticCache
    • Class tf2Vector4
    • Class TimeCache
    • Class TimeCacheInterface
    • Class TimeoutException
    • Class Transform
    • Class TransformException
    • Class TransformStorage
    • Template Class WithCovarianceStamped
    • Enum TF2Error
    • Enum TransformableResult
  • Struct tf2TypedObject

File Hierarchy

• • Directory include
    • Directory tf2
      • Directory impl
        • File convert.h
        • File utils.h
      • Directory LinearMath
        • File Matrix3x3.h
        • File MinMax.h
        • File QuadWord.h
        • File Quaternion.h
        • File Scalar.h
        • File Transform.h
        • File Vector3.h
      • File buffer_core.h
      • File buffer_core_interface.h
      • File convert.h
      • File exceptions.h
      • File time.h
      • File time_cache.h
      • File transform_datatypes.h
      • File transform_storage.h
      • File utils.h
      • File visibility_control.h
  • File mainpage.dox

Full C++ API

Namespaces

• Namespace std

• Namespace tf2

• Namespace tf2::impl

Classes and Structs

• Struct BufferCore::TransformableRequest

• Struct Matrix3x3DoubleData

• Struct Matrix3x3FloatData

• Struct TransformDoubleData

• Struct TransformFloatData

• Struct Vector3DoubleData

• Struct Vector3FloatData

• Struct tf2TypedObject

• Class BufferCore

• Class BufferCoreInterface

• Class ConnectivityException

• Class ExtrapolationException

• Template Class Converter

• Class InvalidArgumentException

• Class LookupException

• Class Matrix3x3

• Class Quaternion

• Template Class Stamped

• Class StaticCache

• Class tf2Vector4

• Class TimeCache

• Class TimeCacheInterface

• Class TimeoutException

• Class Transform

• Class TransformException

• Class TransformStorage

• Template Class WithCovarianceStamped

Enums

• Enum TF2Error

• Enum TransformableResult

Functions

• Template Function GEN_clamp

• Template Function GEN_clamped

• Function tf2::angle

• Function tf2::angleShortestPath

• Function tf2::ATTRIBUTE_ALIGNED16

• Template Function tf2::convert(const A&, B&)

• Template Function tf2::convert(const A&, A&)

• Function tf2::covarianceNestedToRowMajor

• Function tf2::covarianceRowMajorToNested

• Function tf2::displayTimePoint

• Function tf2::dot

• Template Function tf2::doTransform

• Function tf2::durationFromSec

• Function tf2::durationToSec

• Template Function tf2::fromMsg(const A&, B&)

• Function tf2::fromMsg(const geometry_msgs::msg::Quaternion&, tf2::Quaternion&)

• Function tf2::get_now

• Template Function tf2::getCovarianceMatrix(const T&)

• Template Function tf2::getCovarianceMatrix(const tf2::WithCovarianceStamped<P>&)

• Template Function tf2::getEulerYPR

• Template Function tf2::getFrameId(const T&)

• Template Function tf2::getFrameId(const tf2::Stamped<P>&)

• Template Function tf2::getTimestamp(const T&)

• Template Function tf2::getTimestamp(const tf2::Stamped<P>&)

• Template Function tf2::getTransformIdentity

• Template Function tf2::getYaw

• Function tf2::impl::getEulerYPR

• Function tf2::impl::getYaw

• Function tf2::impl::toQuaternion(const tf2::Quaternion&)

• Function tf2::impl::toQuaternion(const geometry_msgs::msg::Quaternion&)

• Function tf2::impl::toQuaternion(const geometry_msgs::msg::QuaternionStamped&)

• Template Function tf2::impl::toQuaternion(const tf2::Stamped<T>&)

• Template Function tf2::impl::toQuaternion(const T&)

• Function tf2::inverse

• Function tf2::length

• Function tf2::lerp

• Function tf2::operator*(const Matrix3x3&, const Vector3&)

• Function tf2::operator*(const Vector3&, const Matrix3x3&)

• Function tf2::operator*(const Matrix3x3&, const Matrix3x3&)

• Function tf2::operator*(const Quaternion&, const Quaternion&)

• Function tf2::operator*(const Quaternion&, const Vector3&)

• Function tf2::operator*(const Vector3&, const Quaternion&)

• Function tf2::operator*(const Vector3&, const Vector3&)

• Function tf2::operator*(const Vector3&, const tf2Scalar&)

• Function tf2::operator*(const tf2Scalar&, const Vector3&)

• Function tf2::operator+

• Function tf2::operator-(const Quaternion&)

• Function tf2::operator-(const Vector3&, const Vector3&)

• Function tf2::operator-(const Vector3&)

• Function tf2::operator/(const Vector3&, const tf2Scalar&)

• Function tf2::operator/(const Vector3&, const Vector3&)

• Function tf2::operator==(const Matrix3x3&, const Matrix3x3&)

• Function tf2::operator==(const Transform&, const Transform&)

• Template Function tf2::operator==(const Stamped<T>&, const Stamped<T>&)

• Template Function tf2::operator==(const WithCovarianceStamped<T>&, const WithCovarianceStamped<T>&)

• Function tf2::quatRotate

• Function tf2::shortestArcQuat

• Function tf2::shortestArcQuatNormalize2

• Function tf2::slerp

• Function tf2::tf2Angle

• Function tf2::tf2Cross

• Function tf2::tf2Distance

• Function tf2::tf2Distance2

• Function tf2::tf2Dot

• Function tf2::tf2PlaneSpace1

• Function tf2::tf2SwapScalarEndian

• Function tf2::tf2SwapVector3Endian

• Function tf2::tf2Triple

• Function tf2::tf2UnSwapVector3Endian

• Function tf2::timeFromSec

• Function tf2::timeToSec

• Template Function tf2::toMsg

• Function tf2Acos

• Function tf2Asin

• Function tf2Atan

• Function tf2Atan2

• Function tf2Atan2Fast

• Function tf2Cos

• Function tf2Degrees

• Function tf2Equal

• Function tf2Exp

• Function tf2Fabs

• Function tf2Fmod

• Function tf2Fsel

• Function tf2FuzzyZero

• Function tf2GreaterEqual

• Function tf2IsNegative

• Function tf2Log

• Function tf2MachineIsLittleEndian

• Template Function tf2Max

• Template Function tf2Min

• Function tf2NormalizeAngle

• Function tf2Pow

• Function tf2Radians

• Function tf2Select(unsigned, unsigned, unsigned)

• Function tf2Select(unsigned, int, int)

• Function tf2Select(unsigned, float, float)

• Template Function tf2SetMax

• Template Function tf2SetMin

• Function tf2Sin

• Function tf2Sqrt

• Template Function tf2Swap

• Function tf2SwapEndian(unsigned)

• Function tf2SwapEndian(unsigned short)

• Function tf2SwapEndian(int)

• Function tf2SwapEndian(short)

• Function tf2SwapEndianDouble

• Function tf2SwapEndianFloat

• Function tf2Tan

• Function tf2UnswapEndianDouble

• Function tf2UnswapEndianFloat

Variables

• Variable tf2::BUFFER_CORE_DEFAULT_CACHE_TIME

• Variable tf2::TIMECACHE_DEFAULT_MAX_STORAGE_TIME

• Variable tf2::TimePointZero

Defines

• Define ATTRIBUTE_ALIGNED128

• Define ATTRIBUTE_ALIGNED16

• Define ATTRIBUTE_ALIGNED64

• Define Matrix3x3Data

• Define TF2_DECLARE_ALIGNED_ALLOCATOR

• Define TF2_DECLARE_HANDLE

• Define TF2_EXPORT

• Define TF2_IMPORT

• Define TF2_LARGE_FLOAT

• Define TF2_LOCAL

• Define TF2_PUBLIC

• Define TF2_PUBLIC_TYPE

• Define tf2Assert

• Define tf2Fsels

• Define tf2FullAssert

• Define tf2Likely

• Define tf2RecipSqrt

• Define TF2SIMD_2_PI

• Define TF2SIMD_DEGS_PER_RAD

• Define TF2SIMD_EPSILON

• Define TF2SIMD_FORCE_INLINE

• Define TF2SIMD_HALF_PI

• Define TF2SIMD_INFINITY

• Define TF2SIMD_PI

• Define TF2SIMD_RADS_PER_DEG

• Define TF2SIMDSQRT12

• Define tf2Unlikely

• Define TransformData

• Define Vector3Data

• Define Vector3DataName

Typedefs

• Typedef tf2::CompactFrameID

• Typedef tf2::Duration

• Typedef tf2::IDuration

• Typedef tf2::P_TimeAndFrameID

• Typedef tf2::TimeCacheInterfacePtr

• Typedef tf2::TimePoint

• Typedef tf2::TransformableRequestHandle

• Typedef tf2Scalar

Directories

• Directory include

• Directory tf2

• Directory impl

• Directory LinearMath

Files

• File buffer_core.h

• File buffer_core_interface.h

• File convert.h

• File convert.h

• File exceptions.h

• File mainpage.dox

• File Matrix3x3.h

• File MinMax.h

• File QuadWord.h

• File Quaternion.h

• File Scalar.h

• File time.h

• File time_cache.h

• File Transform.h

• File transform_datatypes.h

• File transform_storage.h

• File utils.h

• File utils.h

• File Vector3.h

• File visibility_control.h

Pages

• Todo List