tf Namespace Reference

Namespaces
	filter_failure_reasons

Classes
class	Matrix3x3
struct	Matrix3x3DoubleData
struct	Matrix3x3FloatData
class	MessageFilter
class	MessageFilterBase
class	Quaternion
class	Stamped
class	StampedTransform
class	tfVector4
class	TimeCache
class	Transform
class	TransformBroadcaster
struct	TransformDoubleData
class	Transformer
struct	TransformFloatData
class	TransformListener
struct	TransformLists
class	TransformStorage
class	Vector3
struct	Vector3DoubleData
struct	Vector3FloatData

Typedefs
typedef uint32_t	CompactFrameID
typedef tf2::ConnectivityException	ConnectivityException
typedef tf2::ExtrapolationException	ExtrapolationException
typedef filter_failure_reasons::FilterFailureReason	FilterFailureReason
typedef tf2::InvalidArgumentException	InvalidArgument
typedef tf2::LookupException	LookupException
typedef std::pair< ros::Time, CompactFrameID >	P_TimeAndFrameID
typedef tf::Vector3	Point
typedef tf::Transform	Pose
typedef tf2::TransformException	TransformException

Enumerations
enum	ErrorValues
enum	ExtrapolationMode

Functions
	__attribute__ ((deprecated)) static inline std
class tf::Vector3	__attribute__ ((aligned(16)))
geometry_msgs::Pose	addDelta (const geometry_msgs::Pose &pose, const geometry_msgs::Twist &twist, const double &t) __attribute__((deprecated))
	Starting from a Pose from A to B, apply a Twist with reference frame A and reference point B, during a time t. More...
TFSIMD_FORCE_INLINE tfScalar	angle (const Quaternion &q1, const Quaternion &q2)
TFSIMD_FORCE_INLINE tfScalar	angleShortestPath (const Quaternion &q1, const Quaternion &q2)
void	assertQuaternionValid (const tf::Quaternion &q)
void	assertQuaternionValid (const geometry_msgs::Quaternion &q)
	ATTRIBUTE_ALIGNED16 (class) QuadWord
static tf::Quaternion	createIdentityQuaternion ()
static tf::Quaternion	createQuaternionFromRPY (double roll, double pitch, double yaw)
static Quaternion	createQuaternionFromYaw (double yaw)
static geometry_msgs::Quaternion	createQuaternionMsgFromRollPitchYaw (double roll, double pitch, double yaw)
static geometry_msgs::Quaternion	createQuaternionMsgFromYaw (double yaw)
TFSIMD_FORCE_INLINE tfScalar	dot (const Quaternion &q1, const Quaternion &q2)
std::string	getPrefixParam (ros::NodeHandle &nh)
static double	getYaw (const Quaternion &bt_q)
static double	getYaw (const geometry_msgs::Quaternion &msg_q)
TFSIMD_FORCE_INLINE Quaternion	inverse (const Quaternion &q)
TFSIMD_FORCE_INLINE tfScalar	length (const Quaternion &q)
TFSIMD_FORCE_INLINE Vector3	lerp (const Vector3 &v1, const Vector3 &v2, const tfScalar &t)
void	matrixEigenToTF (const Eigen::Matrix3d &e, tf::Matrix3x3 &t)
	Converts an Eigen Quaternion into a tf Matrix3x3. More...
void	matrixTFToEigen (const tf::Matrix3x3 &t, Eigen::Matrix3d &e)
	Converts a tf Matrix3x3 into an Eigen Quaternion. More...
TFSIMD_FORCE_INLINE Vector3	operator* (const Vector3 &v1, const Vector3 &v2)
TFSIMD_FORCE_INLINE Quaternion	operator* (const Quaternion &q1, const Quaternion &q2)
TFSIMD_FORCE_INLINE Quaternion	operator* (const Quaternion &q, const Vector3 &w)
TFSIMD_FORCE_INLINE Quaternion	operator* (const Vector3 &w, const Quaternion &q)
TFSIMD_FORCE_INLINE Vector3	operator* (const Vector3 &v, const tfScalar &s)
TFSIMD_FORCE_INLINE Vector3	operator* (const tfScalar &s, const Vector3 &v)
TFSIMD_FORCE_INLINE Vector3	operator* (const Matrix3x3 &m, const Vector3 &v)
TFSIMD_FORCE_INLINE Vector3	operator* (const Vector3 &v, const Matrix3x3 &m)
TFSIMD_FORCE_INLINE Matrix3x3	operator* (const Matrix3x3 &m1, const Matrix3x3 &m2)
TFSIMD_FORCE_INLINE Vector3	operator+ (const Vector3 &v1, const Vector3 &v2)
TFSIMD_FORCE_INLINE Quaternion	operator- (const Quaternion &q)
TFSIMD_FORCE_INLINE Vector3	operator- (const Vector3 &v1, const Vector3 &v2)
TFSIMD_FORCE_INLINE Vector3	operator- (const Vector3 &v)
TFSIMD_FORCE_INLINE Vector3	operator/ (const Vector3 &v, const tfScalar &s)
TFSIMD_FORCE_INLINE Vector3	operator/ (const Vector3 &v1, const Vector3 &v2)
bool	operator== (const Stamped< T > &a, const Stamped< T > &b)
static bool	operator== (const StampedTransform &a, const StampedTransform &b)
TFSIMD_FORCE_INLINE bool	operator== (const Transform &t1, const Transform &t2)
TFSIMD_FORCE_INLINE bool	operator== (const Matrix3x3 &m1, const Matrix3x3 &m2)
void	pointKDLToMsg (const KDL::Vector &k, geometry_msgs::Point &m)
void	pointMsgToKDL (const geometry_msgs::Point &m, KDL::Vector &k)
static void	pointMsgToTF (const geometry_msgs::Point &msg_v, Point &bt_v)
static void	pointStampedMsgToTF (const geometry_msgs::PointStamped &msg, Stamped< Point > &bt)
static void	pointStampedTFToMsg (const Stamped< Point > &bt, geometry_msgs::PointStamped &msg)
static void	pointTFToMsg (const Point &bt_v, geometry_msgs::Point &msg_v)
void	poseEigenToTF (const Eigen::Affine3d &e, tf::Pose &t)
	Converts an Eigen Affine3d into a tf Transform. More...
void	poseEigenToTF (const Eigen::Isometry3d &e, tf::Pose &t)
	Converts an Eigen Isometry3d into a tf Transform. More...
void	PoseKDLToMsg (const KDL::Frame &k, geometry_msgs::Pose &m) __attribute__((deprecated))
void	poseKDLToMsg (const KDL::Frame &k, geometry_msgs::Pose &m)
void	poseKDLToTF (const KDL::Frame &k, tf::Pose &t)
	Converts a KDL Frame into a tf Pose. More...
void	PoseKDLToTF (const KDL::Frame &k, tf::Pose &t) __attribute__((deprecated))
	Converts a KDL Frame into a tf Pose. More...
void	poseMsgToKDL (const geometry_msgs::Pose &m, KDL::Frame &k)
void	PoseMsgToKDL (const geometry_msgs::Pose &m, KDL::Frame &k) __attribute__((deprecated))
static void	poseMsgToTF (const geometry_msgs::Pose &msg, Pose &bt)
static void	poseStampedMsgToTF (const geometry_msgs::PoseStamped &msg, Stamped< Pose > &bt)
static void	poseStampedTFToMsg (const Stamped< Pose > &bt, geometry_msgs::PoseStamped &msg)
void	poseTFToEigen (const tf::Pose &t, Eigen::Affine3d &e)
	Converts a tf Pose into an Eigen Affine3d. More...
void	poseTFToEigen (const tf::Pose &t, Eigen::Isometry3d &e)
	Converts a tf Pose into an Eigen Isometry3d. More...
void	poseTFToKDL (const tf::Pose &t, KDL::Frame &k)
	Converts a tf Pose into a KDL Frame. More...
void	PoseTFToKDL (const tf::Pose &t, KDL::Frame &k) __attribute__((deprecated))
	Converts a tf Pose into a KDL Frame. More...
static void	poseTFToMsg (const Pose &bt, geometry_msgs::Pose &msg)
void	quaternionEigenToTF (const Eigen::Quaterniond &e, tf::Quaternion &t)
	Converts an Eigen Quaternion into a tf Quaternion. More...
void	quaternionKDLToMsg (const KDL::Rotation &k, geometry_msgs::Quaternion &m)
void	quaternionKDLToTF (const KDL::Rotation &k, tf::Quaternion &t)
	Converts a tf Quaternion into a KDL Rotation. More...
void	QuaternionKDLToTF (const KDL::Rotation &k, tf::Quaternion &t) __attribute__((deprecated))
	Converts a tf Quaternion into a KDL Rotation. More...
void	quaternionMsgToKDL (const geometry_msgs::Quaternion &m, KDL::Rotation &k)
static void	quaternionMsgToTF (const geometry_msgs::Quaternion &msg, Quaternion &bt)
static void	quaternionStampedMsgToTF (const geometry_msgs::QuaternionStamped &msg, Stamped< Quaternion > &bt)
static void	quaternionStampedTFToMsg (const Stamped< Quaternion > &bt, geometry_msgs::QuaternionStamped &msg)
void	quaternionTFToEigen (const tf::Quaternion &t, Eigen::Quaterniond &e)
	Converts a tf Quaternion into an Eigen Quaternion. More...
void	quaternionTFToKDL (const tf::Quaternion &t, KDL::Rotation &k)
	Converts a tf Quaternion into a KDL Rotation. More...
void	QuaternionTFToKDL (const tf::Quaternion &t, KDL::Rotation &k) __attribute__((deprecated))
	Converts a tf Quaternion into a KDL Rotation. More...
static void	quaternionTFToMsg (const Quaternion &bt, geometry_msgs::Quaternion &msg)
TFSIMD_FORCE_INLINE Vector3	quatRotate (const Quaternion &rotation, const Vector3 &v)
std::string	remap (const std::string &frame_id) __attribute__((deprecated))
std::string	resolve (const std::string &prefix, const std::string &frame_name)
TFSIMD_FORCE_INLINE Quaternion	shortestArcQuat (const Vector3 &v0, const Vector3 &v1)
TFSIMD_FORCE_INLINE Quaternion	shortestArcQuatNormalize2 (Vector3 &v0, Vector3 &v1)
TFSIMD_FORCE_INLINE Quaternion	slerp (const Quaternion &q1, const Quaternion &q2, const tfScalar &t)
std::string	strip_leading_slash (const std::string &frame_name)
TFSIMD_FORCE_INLINE tfScalar	tfAngle (const Vector3 &v1, const Vector3 &v2)
TFSIMD_FORCE_INLINE Vector3	tfCross (const Vector3 &v1, const Vector3 &v2)
TFSIMD_FORCE_INLINE tfScalar	tfDistance (const Vector3 &v1, const Vector3 &v2)
TFSIMD_FORCE_INLINE tfScalar	tfDistance2 (const Vector3 &v1, const Vector3 &v2)
TFSIMD_FORCE_INLINE tfScalar	tfDot (const Vector3 &v1, const Vector3 &v2)
TFSIMD_FORCE_INLINE void	tfPlaneSpace1 (const Vector3 &n, Vector3 &p, Vector3 &q)
TFSIMD_FORCE_INLINE void	tfSwapScalarEndian (const tfScalar &sourceVal, tfScalar &destVal)
TFSIMD_FORCE_INLINE void	tfSwapVector3Endian (const Vector3 &sourceVec, Vector3 &destVec)
TFSIMD_FORCE_INLINE tfScalar	tfTriple (const Vector3 &v1, const Vector3 &v2, const Vector3 &v3)
TFSIMD_FORCE_INLINE void	tfUnSwapVector3Endian (Vector3 &vector)
void	transformEigenToTF (const Eigen::Affine3d &e, tf::Transform &t)
	Converts an Eigen Affine3d into a tf Transform. More...
void	transformEigenToTF (const Eigen::Isometry3d &e, tf::Transform &t)
	Converts an Eigen Isometry3d into a tf Transform. More...
void	transformKDLToMsg (const KDL::Frame &k, geometry_msgs::Transform &m)
void	transformKDLToTF (const KDL::Frame &k, tf::Transform &t)
	Converts a KDL Frame into a tf Transform. More...
void	TransformKDLToTF (const KDL::Frame &k, tf::Transform &t) __attribute__((deprecated))
	Converts a KDL Frame into a tf Transform. More...
void	transformMsgToKDL (const geometry_msgs::Transform &m, KDL::Frame &k)
static void	transformMsgToTF (const geometry_msgs::Transform &msg, Transform &bt)
static void	transformStampedMsgToTF (const geometry_msgs::TransformStamped &msg, StampedTransform &bt)
static void	transformStampedTFToMsg (const StampedTransform &bt, geometry_msgs::TransformStamped &msg)
void	transformTFToEigen (const tf::Transform &t, Eigen::Affine3d &e)
	Converts a tf Transform into an Eigen Affine3d. More...
void	transformTFToEigen (const tf::Transform &t, Eigen::Isometry3d &e)
	Converts a tf Transform into an Eigen Isometry3d. More...
void	transformTFToKDL (const tf::Transform &t, KDL::Frame &k)
	Converts a tf Transform into a KDL Frame. More...
void	TransformTFToKDL (const tf::Transform &t, KDL::Frame &k) __attribute__((deprecated))
	Converts a tf Transform into a KDL Frame. More...
static void	transformTFToMsg (const Transform &bt, geometry_msgs::Transform &msg)
void	twistKDLToMsg (const KDL::Twist &k, geometry_msgs::Twist &m)
void	TwistKDLToMsg (const KDL::Twist &k, geometry_msgs::Twist &m) __attribute__((deprecated))
void	TwistMsgToKDL (const geometry_msgs::Twist &m, KDL::Twist &k) __attribute__((deprecated))
void	twistMsgToKDL (const geometry_msgs::Twist &m, KDL::Twist &k)
static void	vector3MsgToTF (const geometry_msgs::Vector3 &msg_v, Vector3 &bt_v)
static void	vector3StampedMsgToTF (const geometry_msgs::Vector3Stamped &msg, Stamped< Vector3 > &bt)
static void	vector3StampedTFToMsg (const Stamped< Vector3 > &bt, geometry_msgs::Vector3Stamped &msg)
static void	vector3TFToMsg (const Vector3 &bt_v, geometry_msgs::Vector3 &msg_v)
void	vectorEigenToTF (const Eigen::Vector3d &e, tf::Vector3 &t)
	Converts an Eigen Vector3d into a tf Vector3. More...
void	vectorKDLToMsg (const KDL::Vector &k, geometry_msgs::Vector3 &m)
void	vectorKDLToTF (const KDL::Vector &k, tf::Vector3 &t)
	Converts a tf Vector3 into a KDL Vector. More...
void	VectorKDLToTF (const KDL::Vector &k, tf::Vector3 &t) __attribute__((deprecated))
	Converts a tf Vector3 into a KDL Vector. More...
void	vectorMsgToKDL (const geometry_msgs::Vector3 &m, KDL::Vector &k)
void	vectorTFToEigen (const tf::Vector3 &t, Eigen::Vector3d &e)
	Converts a tf Vector3 into an Eigen Vector3d. More...
void	vectorTFToKDL (const tf::Vector3 &t, KDL::Vector &k)
	Converts a tf Vector3 into a KDL Vector. More...
void	VectorTFToKDL (const tf::Vector3 &t, KDL::Vector &k) __attribute__((deprecated))
	Converts a tf Vector3 into a KDL Vector. More...
void	wrenchKDLToMsg (const KDL::Wrench &k, geometry_msgs::Wrench &m)
void	wrenchMsgToKDL (const geometry_msgs::Wrench &m, KDL::Wrench &k)

Variables
tf::tfVector4	__attribute__
	CONNECTIVITY_ERROR
	EXTRAPOLATE_BACK
	EXTRAPOLATE_FORWARD
	EXTRAPOLATION_ERROR
	INTERPOLATE
	LOOKUP_ERROR
	NO_ERROR
	ONE_VALUE
static const double	QUATERNION_TOLERANCE

Function Documentation

geometry_msgs::Pose tf::addDelta	(	const geometry_msgs::Pose &	pose,
		const geometry_msgs::Twist &	twist,
		const double &	t
	)

Starting from a Pose from A to B, apply a Twist with reference frame A and reference point B, during a time t.

Definition at line 95 of file tf_kdl.cpp.

void tf::matrixEigenToTF	(	const Eigen::Matrix3d &	e,
		tf::Matrix3x3 &	t
	)

Converts an Eigen Quaternion into a tf Matrix3x3.

Definition at line 43 of file tf_eigen.cpp.

void tf::matrixTFToEigen	(	const tf::Matrix3x3 &	t,
		Eigen::Matrix3d &	e
	)

Converts a tf Matrix3x3 into an Eigen Quaternion.

Definition at line 36 of file tf_eigen.cpp.

void tf::poseEigenToTF	(	const Eigen::Affine3d &	e,
		tf::Pose &	t
	)

Converts an Eigen Affine3d into a tf Transform.

Definition at line 60 of file tf_eigen.cpp.

void tf::poseEigenToTF	(	const Eigen::Isometry3d &	e,
		tf::Pose &	t
	)

Converts an Eigen Isometry3d into a tf Transform.

Definition at line 65 of file tf_eigen.cpp.

void tf::poseKDLToTF	(	const KDL::Frame &	k,
		tf::Pose &	t
	)

Converts a KDL Frame into a tf Pose.

Definition at line 43 of file tf_kdl.cpp.

void tf::PoseKDLToTF ( const KDL::Frame &  k, tf::Pose &  t  )

inline

Converts a KDL Frame into a tf Pose.

Definition at line 78 of file tf_kdl.h.

void tf::poseTFToEigen	(	const tf::Pose &	t,
		Eigen::Affine3d &	e
	)

Converts a tf Pose into an Eigen Affine3d.

Definition at line 50 of file tf_eigen.cpp.

void tf::poseTFToEigen	(	const tf::Pose &	t,
		Eigen::Isometry3d &	e
	)

Converts a tf Pose into an Eigen Isometry3d.

Definition at line 55 of file tf_eigen.cpp.

void tf::poseTFToKDL	(	const tf::Pose &	t,
		KDL::Frame &	k
	)

Converts a tf Pose into a KDL Frame.

Definition at line 35 of file tf_kdl.cpp.

void tf::PoseTFToKDL ( const tf::Pose &  t, KDL::Frame &  k  )

inline

Converts a tf Pose into a KDL Frame.

Definition at line 74 of file tf_kdl.h.

void tf::quaternionEigenToTF	(	const Eigen::Quaterniond &	e,
		tf::Quaternion &	t
	)

Converts an Eigen Quaternion into a tf Quaternion.

Definition at line 75 of file tf_eigen.cpp.

void tf::quaternionKDLToTF	(	const KDL::Rotation &	k,
		tf::Quaternion &	t
	)

Converts a tf Quaternion into a KDL Rotation.

Definition at line 56 of file tf_kdl.cpp.

void tf::QuaternionKDLToTF ( const KDL::Rotation &  k, tf::Quaternion &  t  )

inline

Converts a tf Quaternion into a KDL Rotation.

Definition at line 86 of file tf_kdl.h.

void tf::quaternionTFToEigen	(	const tf::Quaternion &	t,
		Eigen::Quaterniond &	e
	)

Converts a tf Quaternion into an Eigen Quaternion.

Definition at line 70 of file tf_eigen.cpp.

void tf::quaternionTFToKDL	(	const tf::Quaternion &	t,
		KDL::Rotation &	k
	)

Converts a tf Quaternion into a KDL Rotation.

Definition at line 51 of file tf_kdl.cpp.

void tf::QuaternionTFToKDL ( const tf::Quaternion &  t, KDL::Rotation &  k  )

inline

Converts a tf Quaternion into a KDL Rotation.

Definition at line 82 of file tf_kdl.h.

void tf::transformEigenToTF	(	const Eigen::Affine3d &	e,
		tf::Transform &	t
	)

Converts an Eigen Affine3d into a tf Transform.

Definition at line 121 of file tf_eigen.cpp.

void tf::transformEigenToTF	(	const Eigen::Isometry3d &	e,
		tf::Transform &	t
	)

Converts an Eigen Isometry3d into a tf Transform.

Definition at line 126 of file tf_eigen.cpp.

void tf::transformKDLToTF	(	const KDL::Frame &	k,
		tf::Transform &	t
	)

Converts a KDL Frame into a tf Transform.

Definition at line 71 of file tf_kdl.cpp.

void tf::TransformKDLToTF ( const KDL::Frame &  k, tf::Transform &  t  )

inline

Converts a KDL Frame into a tf Transform.

Definition at line 94 of file tf_kdl.h.

void tf::transformTFToEigen	(	const tf::Transform &	t,
		Eigen::Affine3d &	e
	)

Converts a tf Transform into an Eigen Affine3d.

Definition at line 111 of file tf_eigen.cpp.

void tf::transformTFToEigen	(	const tf::Transform &	t,
		Eigen::Isometry3d &	e
	)

Converts a tf Transform into an Eigen Isometry3d.

Definition at line 116 of file tf_eigen.cpp.

void tf::transformTFToKDL	(	const tf::Transform &	t,
		KDL::Frame &	k
	)

Converts a tf Transform into a KDL Frame.

Definition at line 63 of file tf_kdl.cpp.

void tf::TransformTFToKDL ( const tf::Transform &  t, KDL::Frame &  k  )

inline

Converts a tf Transform into a KDL Frame.

Definition at line 90 of file tf_kdl.h.

void tf::vectorEigenToTF	(	const Eigen::Vector3d &	e,
		tf::Vector3 &	t
	)

Converts an Eigen Vector3d into a tf Vector3.

Definition at line 138 of file tf_eigen.cpp.

void tf::vectorKDLToTF	(	const KDL::Vector &	k,
		tf::Vector3 &	t
	)

Converts a tf Vector3 into a KDL Vector.

Definition at line 86 of file tf_kdl.cpp.

void tf::VectorKDLToTF ( const KDL::Vector &  k, tf::Vector3 &  t  )

inline

Converts a tf Vector3 into a KDL Vector.

Definition at line 102 of file tf_kdl.h.

void tf::vectorTFToEigen	(	const tf::Vector3 &	t,
		Eigen::Vector3d &	e
	)

Converts a tf Vector3 into an Eigen Vector3d.

Definition at line 131 of file tf_eigen.cpp.

void tf::vectorTFToKDL	(	const tf::Vector3 &	t,
		KDL::Vector &	k
	)

Converts a tf Vector3 into a KDL Vector.

Definition at line 79 of file tf_kdl.cpp.

void tf::VectorTFToKDL ( const tf::Vector3 &  t, KDL::Vector &  k  )

inline

Converts a tf Vector3 into a KDL Vector.

Definition at line 98 of file tf_kdl.h.