Specialized Template Function tf2::doTransform(const tf2::Stamped<Eigen::Quaterniond>&, tf2::Stamped<Eigen::Quaterniond>&, const geometry_msgs::msg::TransformStamped&)

• Defined in File tf2_eigen.hpp

Function Documentation

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

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

Parameters:

• t_in – The vector to transform, as a timestamped Eigen Quaterniond data type.

• t_out – The transformed vector, as a timestamped Eigen Quaterniond data type.

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