00001 /* 00002 * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA) 00003 * 00004 * Licensed under the Apache License, Version 2.0 (the "License"); 00005 * you may not use this file except in compliance with the License. 00006 * You may obtain a copy of the License at 00007 * 00008 * http://www.apache.org/licenses/LICENSE-2.0 00009 00010 * Unless required by applicable law or agreed to in writing, software 00011 * distributed under the License is distributed on an "AS IS" BASIS, 00012 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 00013 * See the License for the specific language governing permissions and 00014 * limitations under the License. 00015 */ 00016 00017 00018 00019 #ifndef ROS_TF_H_ 00020 #define ROS_TF_H_ 00021 00022 #include "geometry_msgs/TransformStamped.h" 00023 00024 namespace tf 00025 { 00026 00027 static inline geometry_msgs::Quaternion createQuaternionFromYaw(double yaw) 00028 { 00029 geometry_msgs::Quaternion q; 00030 q.x = 0; 00031 q.y = 0; 00032 q.z = sin(yaw * 0.5); 00033 q.w = cos(yaw * 0.5); 00034 return q; 00035 } 00036 00037 } 00038 00039 #endif 00040