Template Function tf2::toMsg(const Sophus::SE3<Scalar>&, beluga_ros::msg::Pose&)

Defined in File tf2_sophus.hpp

Function Documentation

template<class Scalar> inline beluga_ros::msg::Pose &tf2::toMsg(const Sophus::SE3<Scalar> &in, beluga_ros::msg::Pose &out)

Converts a Sophus SE3 type to a Pose message.

The canonical message for an SE3 instance is Transform. If a Pose message is needed, this function must be called directly using tf2::toMsg, not through the tf2::convert customization function.

Parameters:

in – The Sophus SE3 element to convert.
out – The pose converted to a Pose message.

Returns:

The pose converted to a Pose message.