tf2 Namespace Reference

Namespaces
	cache
	impl

Classes
class	BufferCore
struct	CanTransformAccum
class	ConnectivityException
class	ExtrapolationException
class	InvalidArgumentException
class	LookupException
class	Matrix3x3
struct	Matrix3x3DoubleData
struct	Matrix3x3FloatData
class	Quaternion
class	Stamped
class	StaticCache
class	TestBufferCore
class	tf2Vector4
struct	TimeAndFrameIDFrameComparator
class	TimeCache
class	TimeCacheInterface
class	TimeoutException
class	Transform
struct	TransformAccum
struct	TransformDoubleData
class	TransformException
struct	TransformFloatData
class	TransformStorage
struct	Vector3DoubleData
struct	Vector3FloatData

Typedefs
typedef uint32_t	CompactFrameID
typedef std::pair< ros::Time, CompactFrameID >	P_TimeAndFrameID
typedef boost::shared_ptr< TimeCacheInterface >	TimeCacheInterfacePtr
typedef uint32_t	TransformableCallbackHandle
typedef uint64_t	TransformableRequestHandle

Enumerations
enum	TransformableResult
enum	WalkEnding

Functions
TF2SIMD_FORCE_INLINE tf2Scalar	angle (const Quaternion &q1, const Quaternion &q2)
TF2SIMD_FORCE_INLINE tf2Scalar	angleShortestPath (const Quaternion &q1, const Quaternion &q2)
	ATTRIBUTE_ALIGNED16 (class) QuadWord
void	convert (const A &a, B &b)
void	convert (const A &a1, A &a2)
TF2SIMD_FORCE_INLINE tf2Scalar	dot (const Quaternion &q1, const Quaternion &q2)
void	doTransform (const T &data_in, T &data_out, const geometry_msgs::TransformStamped &transform)
template<>
void	doTransform (const tf2::Stamped< btVector3 > &t_in, tf2::Stamped< btVector3 > &t_out, const geometry_msgs::TransformStamped &transform)
	Apply a geometry_msgs TransformStamped to a Bullet-specific Vector3 type. This function is a specialization of the doTransform template defined in tf2/convert.h. More...
template<>
void	doTransform (const tf2::Stamped< btTransform > &t_in, tf2::Stamped< btTransform > &t_out, const geometry_msgs::TransformStamped &transform)
	Apply a geometry_msgs TransformStamped to a Bullet-specific Transform data type. This function is a specialization of the doTransform template defined in tf2/convert.h. More...
void	fromMsg (const A &, B &b)
void	fromMsg (const geometry_msgs::PointStamped &msg, tf2::Stamped< btVector3 > &out)
	Convert a PointStamped message type to a stamped Bullet-specific Vector3 type. This function is a specialization of the fromMsg template defined in tf2/convert.h. More...
void	getEulerYPR (const A &a, double &yaw, double &pitch, double &roll)
const std::string &	getFrameId (const T &t)
const std::string &	getFrameId (const tf2::Stamped< P > &t)
const ros::Time &	getTimestamp (const T &t)
const ros::Time &	getTimestamp (const tf2::Stamped< P > &t)
A	getTransformIdentity ()
double	getYaw (const A &a)
TF2SIMD_FORCE_INLINE Quaternion	inverse (const Quaternion &q)
TF2SIMD_FORCE_INLINE tf2Scalar	length (const Quaternion &q)
TF2SIMD_FORCE_INLINE Vector3	lerp (const Vector3 &v1, const Vector3 &v2, const tf2Scalar &t)
TF2SIMD_FORCE_INLINE Vector3	operator* (const Vector3 &v1, const Vector3 &v2)
TF2SIMD_FORCE_INLINE Quaternion	operator* (const Quaternion &q1, const Quaternion &q2)
TF2SIMD_FORCE_INLINE Quaternion	operator* (const Quaternion &q, const Vector3 &w)
TF2SIMD_FORCE_INLINE Vector3	operator* (const Vector3 &v, const tf2Scalar &s)
TF2SIMD_FORCE_INLINE Quaternion	operator* (const Vector3 &w, const Quaternion &q)
TF2SIMD_FORCE_INLINE Vector3	operator* (const tf2Scalar &s, const Vector3 &v)
TF2SIMD_FORCE_INLINE Vector3	operator* (const Matrix3x3 &m, const Vector3 &v)
TF2SIMD_FORCE_INLINE Vector3	operator* (const Vector3 &v, const Matrix3x3 &m)
TF2SIMD_FORCE_INLINE Matrix3x3	operator* (const Matrix3x3 &m1, const Matrix3x3 &m2)
TF2SIMD_FORCE_INLINE Vector3	operator+ (const Vector3 &v1, const Vector3 &v2)
TF2SIMD_FORCE_INLINE Vector3	operator- (const Vector3 &v)
TF2SIMD_FORCE_INLINE Quaternion	operator- (const Quaternion &q)
TF2SIMD_FORCE_INLINE Vector3	operator- (const Vector3 &v1, const Vector3 &v2)
TF2SIMD_FORCE_INLINE Vector3	operator/ (const Vector3 &v1, const Vector3 &v2)
TF2SIMD_FORCE_INLINE Vector3	operator/ (const Vector3 &v, const tf2Scalar &s)
bool	operator== (const Stamped< T > &a, const Stamped< T > &b)
TF2SIMD_FORCE_INLINE bool	operator== (const Transform &t1, const Transform &t2)
TF2SIMD_FORCE_INLINE bool	operator== (const Matrix3x3 &m1, const Matrix3x3 &m2)
bool	operator> (const TransformStorage &lhs, const TransformStorage &rhs)
TF2SIMD_FORCE_INLINE Vector3	quatRotate (const Quaternion &rotation, const Vector3 &v)
void	setIdentity (geometry_msgs::Transform &tx)
TF2SIMD_FORCE_INLINE Quaternion	shortestArcQuat (const Vector3 &v0, const Vector3 &v1)
TF2SIMD_FORCE_INLINE Quaternion	shortestArcQuatNormalize2 (Vector3 &v0, Vector3 &v1)
TF2SIMD_FORCE_INLINE Quaternion	slerp (const Quaternion &q1, const Quaternion &q2, const tf2Scalar &t)
bool	startsWithSlash (const std::string &frame_id)
std::string	stripSlash (const std::string &in)
TF2SIMD_FORCE_INLINE tf2Scalar	tf2Angle (const Vector3 &v1, const Vector3 &v2)
TF2SIMD_FORCE_INLINE Vector3	tf2Cross (const Vector3 &v1, const Vector3 &v2)
TF2SIMD_FORCE_INLINE tf2Scalar	tf2Distance (const Vector3 &v1, const Vector3 &v2)
TF2SIMD_FORCE_INLINE tf2Scalar	tf2Distance2 (const Vector3 &v1, const Vector3 &v2)
TF2SIMD_FORCE_INLINE tf2Scalar	tf2Dot (const Vector3 &v1, const Vector3 &v2)
TF2SIMD_FORCE_INLINE void	tf2PlaneSpace1 (const Vector3 &n, Vector3 &p, Vector3 &q)
TF2SIMD_FORCE_INLINE void	tf2SwapScalarEndian (const tf2Scalar &sourceVal, tf2Scalar &destVal)
TF2SIMD_FORCE_INLINE void	tf2SwapVector3Endian (const Vector3 &sourceVec, Vector3 &destVec)
TF2SIMD_FORCE_INLINE tf2Scalar	tf2Triple (const Vector3 &v1, const Vector3 &v2, const Vector3 &v3)
TF2SIMD_FORCE_INLINE void	tf2UnSwapVector3Endian (Vector3 &vector)
B	toMsg (const A &a)
geometry_msgs::PointStamped	toMsg (const tf2::Stamped< btVector3 > &in)
	Convert a stamped Bullet Vector3 type to a PointStamped message. This function is a specialization of the toMsg template defined in tf2/convert.h. More...
void	transformMsgToTF2 (const geometry_msgs::Transform &msg, tf2::Transform &tf2)
void	transformTF2ToMsg (const tf2::Transform &tf2, geometry_msgs::TransformStamped &msg, ros::Time stamp, const std::string &frame_id, const std::string &child_frame_id)
void	transformTF2ToMsg (const tf2::Transform &tf2, geometry_msgs::Transform &msg)
void	transformTF2ToMsg (const tf2::Quaternion &orient, const tf2::Vector3 &pos, geometry_msgs::TransformStamped &msg, ros::Time stamp, const std::string &frame_id, const std::string &child_frame_id)
void	transformTF2ToMsg (const tf2::Quaternion &orient, const tf2::Vector3 &pos, geometry_msgs::Transform &msg)
btTransform	transformToBullet (const geometry_msgs::TransformStamped &t)
	Convert a timestamped transform to the equivalent Bullet data type. More...

Variables
	FullPath
	Identity
static double	QUATERNION_NORMALIZATION_TOLERANCE
	SourceParentOfTarget
	TargetParentOfSource
	TransformAvailable
	TransformFailure

Detailed Description

Author

Wim Meeussen

Function Documentation

doTransform() [1/2]

template<>

void tf2::doTransform ( const tf2::Stamped< btVector3 > &  t_in, tf2::Stamped< btVector3 > &  t_out, const geometry_msgs::TransformStamped &  transform  )

inline

Apply a geometry_msgs TransformStamped to a Bullet-specific Vector3 type. This function is a specialization of the doTransform template defined in tf2/convert.h.

Parameters

t_in	The vector to transform, as a timestamped Bullet btVector3 data type.
t_out	The transformed vector, as a timestamped Bullet btVector3 data type.
transform	The timestamped transform to apply, as a TransformStamped message.

Definition at line 63 of file tf2_bullet.h.

doTransform() [2/2]

template<>

void tf2::doTransform ( const tf2::Stamped< btTransform > &  t_in, tf2::Stamped< btTransform > &  t_out, const geometry_msgs::TransformStamped &  transform  )

inline

Apply a geometry_msgs TransformStamped to a Bullet-specific Transform data type. This function is a specialization of the doTransform template defined in tf2/convert.h.

Parameters

t_in	The frame to transform, as a timestamped Bullet btTransform.
t_out	The transformed frame, as a timestamped Bullet btTransform.
transform	The timestamped transform to apply, as a TransformStamped message.

Definition at line 109 of file tf2_bullet.h.

fromMsg()

void tf2::fromMsg ( const geometry_msgs::PointStamped &  msg, tf2::Stamped< btVector3 > &  out  )

inline

Convert a PointStamped message type to a stamped Bullet-specific Vector3 type. This function is a specialization of the fromMsg template defined in tf2/convert.h.

Parameters

msg	The PointStamped message to convert.
out	The point converted to a timestamped Bullet Vector3.

Definition at line 91 of file tf2_bullet.h.

toMsg()

geometry_msgs::PointStamped tf2::toMsg ( const tf2::Stamped< btVector3 > &  in )

inline

Convert a stamped Bullet Vector3 type to a PointStamped message. This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

in	The timestamped Bullet btVector3 to convert.

Returns

The vector converted to a PointStamped message.

Definition at line 74 of file tf2_bullet.h.

transformToBullet()

btTransform tf2::transformToBullet ( const geometry_msgs::TransformStamped &  t )

inline

Convert a timestamped transform to the equivalent Bullet data type.

Parameters

t	The transform to convert, as a geometry_msgs TransformedStamped message.

Returns

The transform message converted to a Bullet btTransform.

Definition at line 47 of file tf2_bullet.h.