Specialized Template Function tf2::doTransform(const geometry_msgs::msg::PoseWithCovarianceStamped&, geometry_msgs::msg::PoseWithCovarianceStamped&, const geometry_msgs::msg::TransformStamped&)

• Defined in File tf2_geometry_msgs.hpp

Function Documentation

template<>
inline void tf2::doTransform(const geometry_msgs::msg::PoseWithCovarianceStamped &t_in, geometry_msgs::msg::PoseWithCovarianceStamped &t_out, const geometry_msgs::msg::TransformStamped &transform)

Apply a geometry_msgs TransformStamped to an geometry_msgs Pose type. This function is a specialization of the doTransform template defined in tf2/convert.h.

Parameters:

• t_in – The pose to transform, as a timestamped Pose3 message with covariance.

• t_out – The transformed pose, as a timestamped Pose3 message with covariance.

• transform – The timestamped transform to apply, as a TransformStamped message.