tf.h

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#ifndef ROS_TF_H_
#define ROS_TF_H_

#include "geometry_msgs/TransformStamped.h"

namespace tf
{

static inline geometry_msgs::Quaternion createQuaternionFromYaw(double yaw)
{
  geometry_msgs::Quaternion q;
  q.x = 0;
  q.y = 0;
  q.z = sin(yaw * 0.5);
  q.w = cos(yaw * 0.5);
  return q;
}

}

#endif