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 Eigen::Vector3d &t_in, Eigen::Vector3d &t_out, const geometry_msgs::TransformStamped &transform)
	Apply a geometry_msgs TransformStamped to an Eigen-specific Vector3d type. This function is a specialization of the doTransform template defined in tf2/convert.h, although it can not be used in tf2_ros::BufferInterface::transform because this functions rely on the existence of a time stamp and a frame id in the type which should get transformed. More...
template<>
void	doTransform (const tf2::Stamped< Eigen::Vector3d > &t_in, tf2::Stamped< Eigen::Vector3d > &t_out, const geometry_msgs::TransformStamped &transform)
	Apply a geometry_msgs TransformStamped to an Eigen-specific Vector3d type. This function is a specialization of the doTransform template defined in tf2/convert.h. More...
template<>
void	doTransform (const Eigen::Affine3d &t_in, Eigen::Affine3d &t_out, const geometry_msgs::TransformStamped &transform)
	Apply a geometry_msgs Transform to an Eigen Affine3d transform. This function is a specialization of the doTransform template defined in tf2/convert.h, although it can not be used in tf2_ros::BufferInterface::transform because this function relies on the existence of a time stamp and a frame id in the type which should get transformed. More...
template<>
void	doTransform (const Eigen::Isometry3d &t_in, Eigen::Isometry3d &t_out, const geometry_msgs::TransformStamped &transform)
template<>
void	doTransform (const Eigen::Quaterniond &t_in, Eigen::Quaterniond &t_out, const geometry_msgs::TransformStamped &transform)
	Apply a geometry_msgs TransformStamped to an Eigen-specific Quaterniond type. This function is a specialization of the doTransform template defined in tf2/convert.h, although it can not be used in tf2_ros::BufferInterface::transform because this functions rely on the existence of a time stamp and a frame id in the type which should get transformed. More...
template<>
void	doTransform (const tf2::Stamped< Eigen::Quaterniond > &t_in, tf2::Stamped< Eigen::Quaterniond > &t_out, const geometry_msgs::TransformStamped &transform)
	Apply a geometry_msgs TransformStamped to an Eigen-specific Quaterniond type. This function is a specialization of the doTransform template defined in tf2/convert.h. More...
template<>
void	doTransform (const tf2::Stamped< Eigen::Affine3d > &t_in, tf2::Stamped< Eigen::Affine3d > &t_out, const geometry_msgs::TransformStamped &transform)
	Apply a geometry_msgs TransformStamped to an Eigen Affine3d transform. This function is a specialization of the doTransform template defined in tf2/convert.h, although it can not be used in tf2_ros::BufferInterface::transform because this function relies on the existence of a time stamp and a frame id in the type which should get transformed. More...
template<>
void	doTransform (const tf2::Stamped< Eigen::Isometry3d > &t_in, tf2::Stamped< Eigen::Isometry3d > &t_out, const geometry_msgs::TransformStamped &transform)
	Apply a geometry_msgs TransformStamped to an Eigen Isometry transform. This function is a specialization of the doTransform template defined in tf2/convert.h, although it can not be used in tf2_ros::BufferInterface::transform because this function relies on the existence of a time stamp and a frame id in the type which should get transformed. More...
geometry_msgs::TransformStamped	eigenToTransform (const Eigen::Affine3d &T)
	Convert an Eigen Affine3d transform to the equivalent geometry_msgs message type. More...
geometry_msgs::TransformStamped	eigenToTransform (const Eigen::Isometry3d &T)
	Convert an Eigen Isometry3d transform to the equivalent geometry_msgs message type. More...
void	fromMsg (const A &, B &b)
void	fromMsg (const geometry_msgs::Point &msg, Eigen::Vector3d &out)
	Convert a Point message type to a Eigen-specific Vector3d type. This function is a specialization of the fromMsg template defined in tf2/convert.h. More...
void	fromMsg (const geometry_msgs::Vector3 &msg, Eigen::Vector3d &out)
	Convert a Vector3 message type to a Eigen-specific Vector3d type. This function is a specialization of the fromMsg template defined in tf2/convert.h. More...
void	fromMsg (const geometry_msgs::PointStamped &msg, tf2::Stamped< Eigen::Vector3d > &out)
	Convert a PointStamped message type to a stamped Eigen-specific Vector3d type. This function is a specialization of the fromMsg template defined in tf2/convert.h. More...
void	fromMsg (const geometry_msgs::Quaternion &msg, Eigen::Quaterniond &out)
	Convert a Quaternion message type to a Eigen-specific Quaterniond type. This function is a specialization of the fromMsg template defined in tf2/convert.h. More...
void	fromMsg (const geometry_msgs::QuaternionStamped &msg, Stamped< Eigen::Quaterniond > &out)
	Convert a QuaternionStamped message type to a stamped Eigen-specific Quaterniond type. This function is a specialization of the fromMsg template defined in tf2/convert.h. More...
void	fromMsg (const geometry_msgs::Pose &msg, Eigen::Affine3d &out)
	Convert a Pose message transform type to a Eigen Affine3d. This function is a specialization of the toMsg template defined in tf2/convert.h. More...
void	fromMsg (const geometry_msgs::Pose &msg, Eigen::Isometry3d &out)
	Convert a Pose message transform type to a Eigen Isometry3d. This function is a specialization of the toMsg template defined in tf2/convert.h. More...
void	fromMsg (const geometry_msgs::Twist &msg, Eigen::Matrix< double, 6, 1 > &out)
	Convert a Twist message transform type to a Eigen 6x1 Matrix. This function is a specialization of the toMsg template defined in tf2/convert.h. More...
void	fromMsg (const geometry_msgs::PoseStamped &msg, tf2::Stamped< Eigen::Affine3d > &out)
	Convert a Pose message transform type to a stamped Eigen Affine3d. This function is a specialization of the toMsg template defined in tf2/convert.h. More...
void	fromMsg (const geometry_msgs::PoseStamped &msg, tf2::Stamped< Eigen::Isometry3d > &out)
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 Quaternion	operator- (const Quaternion &q)
TF2SIMD_FORCE_INLINE Vector3	operator- (const Vector3 &v1, const Vector3 &v2)
TF2SIMD_FORCE_INLINE Vector3	operator- (const Vector3 &v)
TF2SIMD_FORCE_INLINE Vector3	operator/ (const Vector3 &v, const tf2Scalar &s)
TF2SIMD_FORCE_INLINE Vector3	operator/ (const Vector3 &v1, const Vector3 &v2)
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::Point	toMsg (const Eigen::Vector3d &in)
	Convert a Eigen Vector3d type to a Point message. This function is a specialization of the toMsg template defined in tf2/convert.h. More...
geometry_msgs::Vector3 &	toMsg (const Eigen::Vector3d &in, geometry_msgs::Vector3 &out)
	Convert an Eigen Vector3d type to a Vector3 message. This function is a specialization of the toMsg template defined in tf2/convert.h. More...
geometry_msgs::PointStamped	toMsg (const tf2::Stamped< Eigen::Vector3d > &in)
	Convert a stamped Eigen Vector3d type to a PointStamped message. This function is a specialization of the toMsg template defined in tf2/convert.h. More...
geometry_msgs::Quaternion	toMsg (const Eigen::Quaterniond &in)
	Convert a Eigen Quaterniond type to a Quaternion message. This function is a specialization of the toMsg template defined in tf2/convert.h. More...
geometry_msgs::QuaternionStamped	toMsg (const Stamped< Eigen::Quaterniond > &in)
	Convert a stamped Eigen Quaterniond type to a QuaternionStamped message. This function is a specialization of the toMsg template defined in tf2/convert.h. More...
geometry_msgs::Pose	toMsg (const Eigen::Affine3d &in)
	Convert a Eigen Affine3d transform type to a Pose message. This function is a specialization of the toMsg template defined in tf2/convert.h. More...
geometry_msgs::Pose	toMsg (const Eigen::Isometry3d &in)
	Convert a Eigen Isometry3d transform type to a Pose message. This function is a specialization of the toMsg template defined in tf2/convert.h. More...
geometry_msgs::Twist	toMsg (const Eigen::Matrix< double, 6, 1 > &in)
	Convert a Eigen 6x1 Matrix type to a Twist message. This function is a specialization of the toMsg template defined in tf2/convert.h. More...
geometry_msgs::PoseStamped	toMsg (const tf2::Stamped< Eigen::Affine3d > &in)
	Convert a stamped Eigen Affine3d transform type to a Pose message. This function is a specialization of the toMsg template defined in tf2/convert.h. More...
geometry_msgs::PoseStamped	toMsg (const tf2::Stamped< Eigen::Isometry3d > &in)
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::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::Transform &tf2, geometry_msgs::Transform &msg)
void	transformTF2ToMsg (const tf2::Quaternion &orient, const tf2::Vector3 &pos, geometry_msgs::Transform &msg)
Eigen::Isometry3d	transformToEigen (const geometry_msgs::Transform &t)
	Convert a timestamped transform to the equivalent Eigen data type. More...
Eigen::Isometry3d	transformToEigen (const geometry_msgs::TransformStamped &t)
	Convert a timestamped transform to the equivalent Eigen data type. More...

Variables
	FullPath
	Identity
static double	QUATERNION_NORMALIZATION_TOLERANCE
	SourceParentOfTarget
	TargetParentOfSource
	TransformAvailable
	TransformFailure

Detailed Description

Author

Koji Terada

Function Documentation

doTransform() [1/8]

template<>

void tf2::doTransform ( const Eigen::Vector3d &  t_in, Eigen::Vector3d &  t_out, const geometry_msgs::TransformStamped &  transform  )

inline

Apply a geometry_msgs TransformStamped to an Eigen-specific Vector3d type. This function is a specialization of the doTransform template defined in tf2/convert.h, although it can not be used in tf2_ros::BufferInterface::transform because this functions rely on the existence of a time stamp and a frame id in the type which should get transformed.

Parameters

t_in	The vector to transform, as a Eigen Vector3d data type.
t_out	The transformed vector, as a Eigen Vector3d data type.
transform	The timestamped transform to apply, as a TransformStamped message.

Definition at line 115 of file tf2_eigen.h.

doTransform() [2/8]

template<>

void tf2::doTransform ( const tf2::Stamped< Eigen::Vector3d > &  t_in, tf2::Stamped< Eigen::Vector3d > &  t_out, const geometry_msgs::TransformStamped &  transform  )

inline

Apply a geometry_msgs TransformStamped to an Eigen-specific Vector3d 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 Eigen Vector3d data type.
t_out	The transformed vector, as a timestamped Eigen Vector3d data type.
transform	The timestamped transform to apply, as a TransformStamped message.

Definition at line 183 of file tf2_eigen.h.

doTransform() [3/8]

template<>

void tf2::doTransform ( const Eigen::Affine3d &  t_in, Eigen::Affine3d &  t_out, const geometry_msgs::TransformStamped &  transform  )

inline

Apply a geometry_msgs Transform to an Eigen Affine3d transform. This function is a specialization of the doTransform template defined in tf2/convert.h, although it can not be used in tf2_ros::BufferInterface::transform because this function relies on the existence of a time stamp and a frame id in the type which should get transformed.

Parameters

t_in	The frame to transform, as a Eigen Affine3d transform.
t_out	The transformed frame, as a Eigen Affine3d transform.
transform	The timestamped transform to apply, as a TransformStamped message.

Definition at line 229 of file tf2_eigen.h.

doTransform() [4/8]

template<>

void tf2::doTransform ( const Eigen::Isometry3d &  t_in, Eigen::Isometry3d &  t_out, const geometry_msgs::TransformStamped &  transform  )

inline

Definition at line 237 of file tf2_eigen.h.

doTransform() [5/8]

template<>

void tf2::doTransform ( const Eigen::Quaterniond &  t_in, Eigen::Quaterniond &  t_out, const geometry_msgs::TransformStamped &  transform  )

inline

Apply a geometry_msgs TransformStamped to an Eigen-specific Quaterniond type. This function is a specialization of the doTransform template defined in tf2/convert.h, although it can not be used in tf2_ros::BufferInterface::transform because this functions rely on the existence of a time stamp and a frame id in the type which should get transformed.

Parameters

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

Definition at line 279 of file tf2_eigen.h.

doTransform() [6/8]

template<>

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

inline

Apply a geometry_msgs TransformStamped to an Eigen-specific Quaterniond 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 Eigen Quaterniond data type.
t_out	The transformed vector, as a timestamped Eigen Quaterniond data type.
transform	The timestamped transform to apply, as a TransformStamped message.

Definition at line 321 of file tf2_eigen.h.

doTransform() [7/8]

template<>

void tf2::doTransform ( const tf2::Stamped< Eigen::Affine3d > &  t_in, tf2::Stamped< Eigen::Affine3d > &  t_out, const geometry_msgs::TransformStamped &  transform  )

inline

Apply a geometry_msgs TransformStamped to an Eigen Affine3d transform. This function is a specialization of the doTransform template defined in tf2/convert.h, although it can not be used in tf2_ros::BufferInterface::transform because this function relies on the existence of a time stamp and a frame id in the type which should get transformed.

Parameters

t_in	The frame to transform, as a timestamped Eigen Affine3d transform.
t_out	The transformed frame, as a timestamped Eigen Affine3d transform.
transform	The timestamped transform to apply, as a TransformStamped message.

Definition at line 452 of file tf2_eigen.h.

doTransform() [8/8]

template<>

void tf2::doTransform ( const tf2::Stamped< Eigen::Isometry3d > &  t_in, tf2::Stamped< Eigen::Isometry3d > &  t_out, const geometry_msgs::TransformStamped &  transform  )

inline

Apply a geometry_msgs TransformStamped to an Eigen Isometry transform. This function is a specialization of the doTransform template defined in tf2/convert.h, although it can not be used in tf2_ros::BufferInterface::transform because this function relies on the existence of a time stamp and a frame id in the type which should get transformed.

Parameters

t_in	The frame to transform, as a timestamped Eigen Isometry transform.
t_out	The transformed frame, as a timestamped Eigen Isometry transform.
transform	The timestamped transform to apply, as a TransformStamped message.

Definition at line 469 of file tf2_eigen.h.

eigenToTransform() [1/2]

geometry_msgs::TransformStamped tf2::eigenToTransform ( const Eigen::Affine3d &  T )

inline

Convert an Eigen Affine3d transform to the equivalent geometry_msgs message type.

Parameters

T	The transform to convert, as an Eigen Affine3d transform.

Returns

The transform converted to a TransformStamped message.

Definition at line 67 of file tf2_eigen.h.

eigenToTransform() [2/2]

geometry_msgs::TransformStamped tf2::eigenToTransform ( const Eigen::Isometry3d &  T )

inline

Convert an Eigen Isometry3d transform to the equivalent geometry_msgs message type.

Parameters

T	The transform to convert, as an Eigen Isometry3d transform.

Returns

The transform converted to a TransformStamped message.

Definition at line 88 of file tf2_eigen.h.

fromMsg() [1/10]

void tf2::fromMsg ( const geometry_msgs::Point &  msg, Eigen::Vector3d &  out  )

inline

Convert a Point message type to a Eigen-specific Vector3d type. This function is a specialization of the fromMsg template defined in tf2/convert.h.

Parameters

msg	The Point message to convert.
out	The point converted to a Eigen Vector3d.

Definition at line 141 of file tf2_eigen.h.

fromMsg() [2/10]

void tf2::fromMsg ( const geometry_msgs::Vector3 &  msg, Eigen::Vector3d &  out  )

inline

Convert a Vector3 message type to a Eigen-specific Vector3d type. This function is a specialization of the fromMsg template defined in tf2/convert.h.

Parameters

msg	The Vector3 message to convert.
out	The vector converted to a Eigen Vector3d.

Definition at line 168 of file tf2_eigen.h.

fromMsg() [3/10]

void tf2::fromMsg ( const geometry_msgs::PointStamped &  msg, tf2::Stamped< Eigen::Vector3d > &  out  )

inline

Convert a PointStamped message type to a stamped Eigen-specific Vector3d 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 Eigen Vector3d.

Definition at line 212 of file tf2_eigen.h.

fromMsg() [4/10]

void tf2::fromMsg ( const geometry_msgs::Quaternion &  msg, Eigen::Quaterniond &  out  )

inline

Convert a Quaternion message type to a Eigen-specific Quaterniond type. This function is a specialization of the fromMsg template defined in tf2/convert.h.

Parameters

msg	The Quaternion message to convert.
out	The quaternion converted to a Eigen Quaterniond.

Definition at line 264 of file tf2_eigen.h.

fromMsg() [5/10]

void tf2::fromMsg ( const geometry_msgs::QuaternionStamped &  msg, Stamped< Eigen::Quaterniond > &  out  )

inline

Convert a QuaternionStamped message type to a stamped Eigen-specific Quaterniond type. This function is a specialization of the fromMsg template defined in tf2/convert.h.

Parameters

msg	The QuaternionStamped message to convert.
out	The quaternion converted to a timestamped Eigen Quaterniond.

Definition at line 307 of file tf2_eigen.h.

fromMsg() [6/10]

void tf2::fromMsg ( const geometry_msgs::Pose &  msg, Eigen::Affine3d &  out  )

inline

Convert a Pose message transform type to a Eigen Affine3d. This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

msg	The Pose message to convert.
out	The pose converted to a Eigen Affine3d.

Definition at line 385 of file tf2_eigen.h.

fromMsg() [7/10]

void tf2::fromMsg ( const geometry_msgs::Pose &  msg, Eigen::Isometry3d &  out  )

inline

Convert a Pose message transform type to a Eigen Isometry3d. This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

msg	The Pose message to convert.
out	The pose converted to a Eigen Isometry3d.

Definition at line 400 of file tf2_eigen.h.

fromMsg() [8/10]

void tf2::fromMsg ( const geometry_msgs::Twist &  msg, Eigen::Matrix< double, 6, 1 > &  out  )

inline

Convert a Twist message transform type to a Eigen 6x1 Matrix. This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

msg	The Twist message to convert.
out	The twist converted to a Eigen 6x1 Matrix.

Definition at line 432 of file tf2_eigen.h.

fromMsg() [9/10]

void tf2::fromMsg ( const geometry_msgs::PoseStamped &  msg, tf2::Stamped< Eigen::Affine3d > &  out  )

inline

Convert a Pose message transform type to a stamped Eigen Affine3d. This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

msg	The PoseStamped message to convert.
out	The pose converted to a timestamped Eigen Affine3d.

Definition at line 506 of file tf2_eigen.h.

fromMsg() [10/10]

void tf2::fromMsg ( const geometry_msgs::PoseStamped &  msg, tf2::Stamped< Eigen::Isometry3d > &  out  )

inline

Definition at line 514 of file tf2_eigen.h.

toMsg() [1/10]

geometry_msgs::Point tf2::toMsg ( const Eigen::Vector3d &  in )

inline

Convert a Eigen Vector3d type to a Point message. This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

in	The timestamped Eigen Vector3d to convert.

Returns

The vector converted to a Point message.

Definition at line 126 of file tf2_eigen.h.

toMsg() [2/10]

geometry_msgs::Vector3& tf2::toMsg ( const Eigen::Vector3d &  in, geometry_msgs::Vector3 &  out  )

inline

Convert an Eigen Vector3d type to a Vector3 message. This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

in	The Eigen Vector3d to convert.

Returns

The vector converted to a Vector3 message.

Definition at line 154 of file tf2_eigen.h.

toMsg() [3/10]

geometry_msgs::PointStamped tf2::toMsg ( const tf2::Stamped< Eigen::Vector3d > &  in )

inline

Convert a stamped Eigen Vector3d type to a PointStamped message. This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

in	The timestamped Eigen Vector3d to convert.

Returns

The vector converted to a PointStamped message.

Definition at line 197 of file tf2_eigen.h.

toMsg() [4/10]

geometry_msgs::Quaternion tf2::toMsg ( const Eigen::Quaterniond &  in )

inline

Convert a Eigen Quaterniond type to a Quaternion message. This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

in	The Eigen Quaterniond to convert.

Returns

The quaternion converted to a Quaterion message.

Definition at line 249 of file tf2_eigen.h.

toMsg() [5/10]

geometry_msgs::QuaternionStamped tf2::toMsg ( const Stamped< Eigen::Quaterniond > &  in )

inline

Convert a stamped Eigen Quaterniond type to a QuaternionStamped message. This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

in	The timestamped Eigen Quaterniond to convert.

Returns

The quaternion converted to a QuaternionStamped message.

Definition at line 293 of file tf2_eigen.h.

toMsg() [6/10]

geometry_msgs::Pose tf2::toMsg ( const Eigen::Affine3d &  in )

inline

Convert a Eigen Affine3d transform type to a Pose message. This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

in	The Eigen Affine3d to convert.

Returns

The Eigen transform converted to a Pose message.

Definition at line 335 of file tf2_eigen.h.

toMsg() [7/10]

geometry_msgs::Pose tf2::toMsg ( const Eigen::Isometry3d &  in )

inline

Convert a Eigen Isometry3d transform type to a Pose message. This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

in	The Eigen Isometry3d to convert.

Returns

The Eigen transform converted to a Pose message.

Definition at line 360 of file tf2_eigen.h.

toMsg() [8/10]

geometry_msgs::Twist tf2::toMsg ( const Eigen::Matrix< double, 6, 1 > &  in )

inline

Convert a Eigen 6x1 Matrix type to a Twist message. This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

in	The 6x1 Eigen Matrix to convert.

Returns

The Eigen Matrix converted to a Twist message.

Definition at line 415 of file tf2_eigen.h.

toMsg() [9/10]

geometry_msgs::PoseStamped tf2::toMsg ( const tf2::Stamped< Eigen::Affine3d > &  in )

inline

Convert a stamped Eigen Affine3d transform type to a Pose message. This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

in	The timestamped Eigen Affine3d to convert.

Returns

The Eigen transform converted to a PoseStamped message.

Definition at line 481 of file tf2_eigen.h.

toMsg() [10/10]

geometry_msgs::PoseStamped tf2::toMsg ( const tf2::Stamped< Eigen::Isometry3d > &  in )

inline

Definition at line 491 of file tf2_eigen.h.

transformToEigen() [1/2]

Eigen::Isometry3d tf2::transformToEigen ( const geometry_msgs::Transform &  t )

inline

Convert a timestamped transform to the equivalent Eigen data type.

Parameters

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

Returns

The transform message converted to an Eigen Isometry3d transform.

Definition at line 48 of file tf2_eigen.h.

transformToEigen() [2/2]

Eigen::Isometry3d tf2::transformToEigen ( const geometry_msgs::TransformStamped &  t )

inline

Convert a timestamped transform to the equivalent Eigen data type.

Parameters

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

Returns

The transform message converted to an Eigen Isometry3d transform.

Definition at line 58 of file tf2_eigen.h.