### tf2_geometry_msgs

*tf2_geometry_msgs*

**tf2_geometry_msgs** contains functions for converting between various geometry_msgs data types.

This library is an implementation of the templated conversion interface specified in tf/convert.h. It offers conversion and transform convenience functions between various geometry_msgs data types, such as Vector, Point, Pose, Transform, Quaternion, etc.

See the Conversions overview wiki page for more information about datatype conversion in tf2.

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Code API

This library consists of one header only, tf2_geometry_msgs/tf2_geometry_msgs.h, which consists mostly of specializations of template functions defined in tf2/convert.h.