tf_kdl.h

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/*
 * Copyright (c) 2009, Willow Garage, Inc.
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#ifndef CONVERSIONS_TF_KDL_H
#define CONVERSIONS_TF_KDL_H

#include "kdl_conversions/kdl_msg.h" //backwards compatability for deprecated methods
#include "tf/transform_datatypes.h"
#include "kdl/frames.hpp"

#include <geometry_msgs/Pose.h>
#include <geometry_msgs/Twist.h>

namespace tf
{

void poseTFToKDL(const tf::Pose &t, KDL::Frame &k);

void poseKDLToTF(const KDL::Frame &k, tf::Pose &t);

void quaternionTFToKDL(const tf::Quaternion &t, KDL::Rotation &k);

void quaternionKDLToTF(const KDL::Rotation &k, tf::Quaternion &t);

void transformTFToKDL(const tf::Transform &t, KDL::Frame &k);

void transformKDLToTF(const KDL::Frame &k, tf::Transform &t);

void vectorTFToKDL(const tf::Vector3 &t, KDL::Vector &k);

void vectorKDLToTF(const KDL::Vector &k, tf::Vector3 &t);

/* DEPRECATED FUNCTIONS */
geometry_msgs::Pose addDelta(const geometry_msgs::Pose &pose, const geometry_msgs::Twist &twist, const double &t)  __attribute__((deprecated));


void PoseTFToKDL(const tf::Pose &t, KDL::Frame &k) __attribute__((deprecated));
void inline PoseTFToKDL(const tf::Pose &t, KDL::Frame &k) {poseTFToKDL(t, k);};

void PoseKDLToTF(const KDL::Frame &k, tf::Pose &t) __attribute__((deprecated));
void inline PoseKDLToTF(const KDL::Frame &k, tf::Pose &t) {poseKDLToTF(k, t);};

void QuaternionTFToKDL(const tf::Quaternion &t, KDL::Rotation &k) __attribute__((deprecated));
void inline QuaternionTFToKDL(const tf::Quaternion &t, KDL::Rotation &k) {quaternionTFToKDL(t, k);};

void QuaternionKDLToTF(const KDL::Rotation &k, tf::Quaternion &t) __attribute__((deprecated));
void inline QuaternionKDLToTF(const KDL::Rotation &k, tf::Quaternion &t) {quaternionKDLToTF(k, t);};

void TransformTFToKDL(const tf::Transform &t, KDL::Frame &k) __attribute__((deprecated));
void inline TransformTFToKDL(const tf::Transform &t, KDL::Frame &k) {transformTFToKDL(t, k);};

void TransformKDLToTF(const KDL::Frame &k, tf::Transform &t) __attribute__((deprecated));
void inline TransformKDLToTF(const KDL::Frame &k, tf::Transform &t)  {transformKDLToTF(k, t);};

void VectorTFToKDL(const tf::Vector3 &t, KDL::Vector &k) __attribute__((deprecated));
void inline VectorTFToKDL(const tf::Vector3 &t, KDL::Vector &k) {vectorTFToKDL(t, k);};

void VectorKDLToTF(const KDL::Vector &k, tf::Vector3 &t) __attribute__((deprecated));
void inline VectorKDLToTF(const KDL::Vector &k, tf::Vector3 &t) {vectorKDLToTF(k, t);};


} // namespace tf

#endif