tf_projection.cpp

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/*
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#include <tf2/LinearMath/Transform.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>

#include <track_odometry/tf_projection.h>

tf2::Transform track_odometry::projectTranslation(
    const tf2::Transform& trans, const tf2::Transform& trans_target)
{
  tf2::Vector3 origin(trans.getOrigin());
  origin.setZ(0.0);
  tf2::Transform projected(trans);
  projected.setOrigin(origin);

  return trans_target * projected;
}