Specialized Template Function tf2::doTransform(const tf2::Stamped<Eigen::Isometry3d>&, tf2::Stamped<Eigen::Isometry3d>&, const geometry_msgs::msg::TransformStamped&)

• Defined in File tf2_eigen.hpp

Function Documentation

template<>
inline void tf2::doTransform(const tf2::Stamped<Eigen::Isometry3d> &t_in, tf2::Stamped<Eigen::Isometry3d> &t_out, const geometry_msgs::msg::TransformStamped &transform)

Apply a geometry_msgs TransformStamped to an Eigen Isometry transform. This function is a specialization of the doTransform template defined in tf2/convert.h, although it can not be used in tf2_ros::BufferInterface::transform because this function relies on the existence of a time stamp and a frame id in the type which should get transformed.

Parameters:

• t_in – The frame to transform, as a timestamped Eigen Isometry transform.

• t_out – The transformed frame, as a timestamped Eigen Isometry transform.

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