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 geometry_msgs::Point &t_in, geometry_msgs::Point &t_out, const geometry_msgs::TransformStamped &transform)
	Apply a geometry_msgs TransformStamped to an geometry_msgs Point type. This function is a specialization of the doTransform template defined in tf2/convert.h. More...

template<>
void	doTransform (const geometry_msgs::PointStamped &t_in, geometry_msgs::PointStamped &t_out, const geometry_msgs::TransformStamped &transform)
	Apply a geometry_msgs TransformStamped to an stamped geometry_msgs Point type. This function is a specialization of the doTransform template defined in tf2/convert.h. More...

template<>
void	doTransform (const geometry_msgs::Quaternion &t_in, geometry_msgs::Quaternion &t_out, const geometry_msgs::TransformStamped &transform)
	Apply a geometry_msgs TransformStamped to an geometry_msgs Quaternion type. This function is a specialization of the doTransform template defined in tf2/convert.h. More...

template<>
void	doTransform (const geometry_msgs::QuaternionStamped &t_in, geometry_msgs::QuaternionStamped &t_out, const geometry_msgs::TransformStamped &transform)
	Apply a geometry_msgs TransformStamped to an stamped geometry_msgs Quaternion type. This function is a specialization of the doTransform template defined in tf2/convert.h. More...

template<>
void	doTransform (const geometry_msgs::Pose &t_in, geometry_msgs::Pose &t_out, const geometry_msgs::TransformStamped &transform)
	Apply a geometry_msgs TransformStamped to an geometry_msgs Pose type. This function is a specialization of the doTransform template defined in tf2/convert.h. More...

template<>
void	doTransform (const geometry_msgs::PoseStamped &t_in, geometry_msgs::PoseStamped &t_out, const geometry_msgs::TransformStamped &transform)
	Apply a geometry_msgs TransformStamped to an stamped geometry_msgs Pose type. This function is a specialization of the doTransform template defined in tf2/convert.h. More...

template<>
void	doTransform (const geometry_msgs::PoseWithCovarianceStamped &t_in, geometry_msgs::PoseWithCovarianceStamped &t_out, const geometry_msgs::TransformStamped &transform)
	Apply a geometry_msgs TransformStamped to an geometry_msgs PoseWithCovarianceStamped type. This function is a specialization of the doTransform template defined in tf2/convert.h. More...

template<>
void	doTransform (const geometry_msgs::TransformStamped &t_in, geometry_msgs::TransformStamped &t_out, const geometry_msgs::TransformStamped &transform)
	Apply a geometry_msgs TransformStamped to an geometry_msgs Transform type. This function is a specialization of the doTransform template defined in tf2/convert.h. More...

template<>
void	doTransform (const geometry_msgs::Vector3 &t_in, geometry_msgs::Vector3 &t_out, const geometry_msgs::TransformStamped &transform)
	Apply a geometry_msgs TransformStamped to an geometry_msgs Vector type. This function is a specialization of the doTransform template defined in tf2/convert.h. More...

template<>
void	doTransform (const geometry_msgs::Vector3Stamped &t_in, geometry_msgs::Vector3Stamped &t_out, const geometry_msgs::TransformStamped &transform)
	Apply a geometry_msgs TransformStamped to an stamped geometry_msgs Vector type. This function is a specialization of the doTransform template defined in tf2/convert.h. More...

template<>
void	doTransform (const geometry_msgs::Wrench &t_in, geometry_msgs::Wrench &t_out, const geometry_msgs::TransformStamped &transform)

template<>
void	doTransform (const geometry_msgs::WrenchStamped &t_in, geometry_msgs::WrenchStamped &t_out, const geometry_msgs::TransformStamped &transform)

void	fromMsg (const A &, B &b)

void	fromMsg (const geometry_msgs::Vector3 &in, tf2::Vector3 &out)
	Convert a Vector3 message to its equivalent tf2 representation. This function is a specialization of the fromMsg template defined in tf2/convert.h. More...

void	fromMsg (const geometry_msgs::Vector3Stamped &msg, geometry_msgs::Vector3Stamped &out)
	Trivial "conversion" function for Vector3 message type. This function is a specialization of the fromMsg template defined in tf2/convert.h. More...

void	fromMsg (const geometry_msgs::Vector3Stamped &msg, tf2::Stamped< tf2::Vector3 > &out)
	Convert a Vector3Stamped message to its equivalent tf2 representation. This function is a specialization of the fromMsg template defined in tf2/convert.h. More...

void	fromMsg (const geometry_msgs::Point &in, tf2::Vector3 &out)
	Convert a Vector3 message to its equivalent tf2 representation. This function is a specialization of the fromMsg template defined in tf2/convert.h. More...

void	fromMsg (const geometry_msgs::PointStamped &msg, geometry_msgs::PointStamped &out)
	Trivial "conversion" function for Point message 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< tf2::Vector3 > &out)
	Convert a PointStamped message to its equivalent tf2 representation. This function is a specialization of the fromMsg template defined in tf2/convert.h. More...

void	fromMsg (const geometry_msgs::Quaternion &in, tf2::Quaternion &out)
	Convert a Quaternion message to its equivalent tf2 representation. This function is a specialization of the fromMsg template defined in tf2/convert.h. More...

void	fromMsg (const geometry_msgs::QuaternionStamped &msg, geometry_msgs::QuaternionStamped &out)
	Trivial "conversion" function for Quaternion message type. This function is a specialization of the fromMsg template defined in tf2/convert.h. More...

void	fromMsg (const geometry_msgs::QuaternionStamped &in, tf2::Stamped< tf2::Quaternion > &out)
	Convert a QuaternionStamped message to its equivalent tf2 representation. This function is a specialization of the fromMsg template defined in tf2/convert.h. More...

void	fromMsg (const geometry_msgs::Pose &in, tf2::Transform &out)
	Convert a geometry_msgs Pose message to an equivalent tf2 Transform type. More...

void	fromMsg (const geometry_msgs::PoseStamped &msg, geometry_msgs::PoseStamped &out)
	Trivial "conversion" function for Pose message type. This function is a specialization of the toMsg template defined in tf2/convert.h. More...

void	fromMsg (const geometry_msgs::PoseStamped &msg, tf2::Stamped< tf2::Transform > &out)
	Convert a PoseStamped message to its equivalent tf2 representation. This function is a specialization of the fromMsg template defined in tf2/convert.h. More...

void	fromMsg (const geometry_msgs::PoseWithCovarianceStamped &msg, geometry_msgs::PoseWithCovarianceStamped &out)
	Trivial "conversion" function for PoseWithCovarianceStamped message type. This function is a specialization of the toMsg template defined in tf2/convert.h. More...

void	fromMsg (const geometry_msgs::PoseWithCovarianceStamped &msg, tf2::Stamped< tf2::Transform > &out)
	Convert a PoseWithCovarianceStamped message to its equivalent tf2 representation. This function is a specialization of the fromMsg template defined in tf2/convert.h. More...

void	fromMsg (const geometry_msgs::Transform &in, tf2::Transform &out)
	Convert a Transform message to its equivalent tf2 representation. This function is a specialization of the toMsg template defined in tf2/convert.h. More...

void	fromMsg (const geometry_msgs::TransformStamped &msg, geometry_msgs::TransformStamped &out)
	Convert a TransformStamped message to its equivalent tf2 representation. This function is a specialization of the toMsg template defined in tf2/convert.h. More...

void	fromMsg (const geometry_msgs::TransformStamped &msg, tf2::Stamped< tf2::Transform > &out)
	Convert a TransformStamped message to its equivalent tf2 representation. This function is a specialization of the fromMsg template defined in tf2/convert.h. More...

void	fromMsg (const geometry_msgs::WrenchStamped &msg, geometry_msgs::WrenchStamped &out)

void	fromMsg (const geometry_msgs::WrenchStamped &msg, tf2::Stamped< std::array< tf2::Vector3, 2 >> &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)

template<>
const std::string &	getFrameId (const geometry_msgs::Vector3Stamped &t)
	Extract a frame ID from the header of a Vector message. This function is a specialization of the getFrameId template defined in tf2/convert.h. More...

template<>
const std::string &	getFrameId (const geometry_msgs::PointStamped &t)
	Extract a frame ID from the header of a Point message. This function is a specialization of the getFrameId template defined in tf2/convert.h. More...

template<>
const std::string &	getFrameId (const geometry_msgs::QuaternionStamped &t)
	Extract a frame ID from the header of a Quaternion message. This function is a specialization of the getFrameId template defined in tf2/convert.h. More...

template<>
const std::string &	getFrameId (const geometry_msgs::PoseStamped &t)
	Extract a frame ID from the header of a Pose message. This function is a specialization of the getFrameId template defined in tf2/convert.h. More...

template<>
const std::string &	getFrameId (const geometry_msgs::PoseWithCovarianceStamped &t)
	Extract a frame ID from the header of a PoseWithCovarianceStamped message. This function is a specialization of the getFrameId template defined in tf2/convert.h. More...

template<>
const std::string &	getFrameId (const geometry_msgs::TransformStamped &t)
	Extract a frame ID from the header of a Transform message. This function is a specialization of the getFrameId template defined in tf2/convert.h. More...

template<>
const std::string &	getFrameId (const geometry_msgs::WrenchStamped &t)

const ros::Time &	getTimestamp (const T &t)

const ros::Time &	getTimestamp (const tf2::Stamped< P > &t)

template<>
const ros::Time &	getTimestamp (const geometry_msgs::Vector3Stamped &t)
	Extract a timestamp from the header of a Vector message. This function is a specialization of the getTimestamp template defined in tf2/convert.h. More...

template<>
const ros::Time &	getTimestamp (const geometry_msgs::PointStamped &t)
	Extract a timestamp from the header of a Point message. This function is a specialization of the getTimestamp template defined in tf2/convert.h. More...

template<>
const ros::Time &	getTimestamp (const geometry_msgs::QuaternionStamped &t)
	Extract a timestamp from the header of a Quaternion message. This function is a specialization of the getTimestamp template defined in tf2/convert.h. More...

template<>
const ros::Time &	getTimestamp (const geometry_msgs::PoseStamped &t)
	Extract a timestamp from the header of a Pose message. This function is a specialization of the getTimestamp template defined in tf2/convert.h. More...

template<>
const ros::Time &	getTimestamp (const geometry_msgs::PoseWithCovarianceStamped &t)
	Extract a timestamp from the header of a PoseWithCovarianceStamped message. This function is a specialization of the getTimestamp template defined in tf2/convert.h. More...

template<>
const ros::Time &	getTimestamp (const geometry_msgs::TransformStamped &t)
	Extract a timestamp from the header of a Transform message. This function is a specialization of the getTimestamp template defined in tf2/convert.h. More...

template<>
const ros::Time &	getTimestamp (const geometry_msgs::WrenchStamped &t)

A	getTransformIdentity ()

double	getYaw (const A &a)

ROS_DEPRECATED KDL::Frame	gmTransformToKDL (const geometry_msgs::TransformStamped &t)
	Convert a TransformStamped message to a KDL frame. More...

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 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 Vector3 &v, const tf2Scalar &s)

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 &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::Vector3	toMsg (const tf2::Vector3 &in)
	Convert a tf2 Vector3 type to its equivalent geometry_msgs representation. This function is a specialization of the toMsg template defined in tf2/convert.h. More...

geometry_msgs::Vector3Stamped	toMsg (const geometry_msgs::Vector3Stamped &in)
	Trivial "conversion" function for Vector3 message type. This function is a specialization of the toMsg template defined in tf2/convert.h. More...

geometry_msgs::Vector3Stamped	toMsg (const tf2::Stamped< tf2::Vector3 > &in)
	Convert as stamped tf2 Vector3 type to its equivalent geometry_msgs representation. This function is a specialization of the toMsg template defined in tf2/convert.h. More...

geometry_msgs::Point &	toMsg (const tf2::Vector3 &in, geometry_msgs::Point &out)
	Convert a tf2 Vector3 type to its equivalent geometry_msgs representation. This function is a specialization of the toMsg template defined in tf2/convert.h. More...

geometry_msgs::PointStamped	toMsg (const geometry_msgs::PointStamped &in)
	Trivial "conversion" function for Point message type. This function is a specialization of the toMsg template defined in tf2/convert.h. More...

geometry_msgs::PointStamped	toMsg (const tf2::Stamped< tf2::Vector3 > &in, geometry_msgs::PointStamped &out)
	Convert as stamped tf2 Vector3 type to its equivalent geometry_msgs representation. This function is a specialization of the toMsg template defined in tf2/convert.h. More...

geometry_msgs::Quaternion	toMsg (const tf2::Quaternion &in)
	Convert a tf2 Quaternion type to its equivalent geometry_msgs representation. This function is a specialization of the toMsg template defined in tf2/convert.h. More...

geometry_msgs::QuaternionStamped	toMsg (const geometry_msgs::QuaternionStamped &in)
	Trivial "conversion" function for Quaternion message type. This function is a specialization of the toMsg template defined in tf2/convert.h. More...

geometry_msgs::QuaternionStamped	toMsg (const tf2::Stamped< tf2::Quaternion > &in)
	Convert as stamped tf2 Quaternion type to its equivalent geometry_msgs representation. This function is a specialization of the toMsg template defined in tf2/convert.h. More...

geometry_msgs::Pose &	toMsg (const tf2::Transform &in, geometry_msgs::Pose &out)
	Convert a tf2 Transform type to an equivalent geometry_msgs Pose message. More...

geometry_msgs::PoseStamped	toMsg (const geometry_msgs::PoseStamped &in)
	Trivial "conversion" function for Pose message type. This function is a specialization of the toMsg template defined in tf2/convert.h. More...

geometry_msgs::PoseStamped	toMsg (const tf2::Stamped< tf2::Transform > &in, geometry_msgs::PoseStamped &out)
	Convert as stamped tf2 Pose type to its equivalent geometry_msgs representation. This function is a specialization of the toMsg template defined in tf2/convert.h. More...

geometry_msgs::PoseWithCovarianceStamped	toMsg (const geometry_msgs::PoseWithCovarianceStamped &in)
	Trivial "conversion" function for PoseWithCovarianceStamped message type. This function is a specialization of the toMsg template defined in tf2/convert.h. More...

geometry_msgs::PoseWithCovarianceStamped	toMsg (const tf2::Stamped< tf2::Transform > &in, geometry_msgs::PoseWithCovarianceStamped &out)
	Convert as stamped tf2 PoseWithCovarianceStamped type to its equivalent geometry_msgs representation. This function is a specialization of the toMsg template defined in tf2/convert.h. More...

geometry_msgs::Transform	toMsg (const tf2::Transform &in)
	Convert a tf2 Transform type to its equivalent geometry_msgs representation. This function is a specialization of the toMsg template defined in tf2/convert.h. More...

geometry_msgs::TransformStamped	toMsg (const geometry_msgs::TransformStamped &in)
	Trivial "conversion" function for Transform message type. This function is a specialization of the toMsg template defined in tf2/convert.h. More...

geometry_msgs::TransformStamped	toMsg (const tf2::Stamped< tf2::Transform > &in)
	Convert as stamped tf2 Transform type to its equivalent geometry_msgs representation. This function is a specialization of the toMsg template defined in tf2/convert.h. More...

geometry_msgs::WrenchStamped	toMsg (const geometry_msgs::WrenchStamped &in)

geometry_msgs::WrenchStamped	toMsg (const tf2::Stamped< std::array< tf2::Vector3, 2 >> &in, geometry_msgs::WrenchStamped &out)

geometry_msgs::PoseWithCovariance::_covariance_type	transformCovariance (const geometry_msgs::PoseWithCovariance::_covariance_type &cov_in, const tf2::Transform &transform)
	Transform the covariance matrix of a PoseWithCovarianceStamped message to a new frame. More...

void	transformMsgToTF2 (const geometry_msgs::Transform &msg, tf2::Transform &tf2)

void	transformTF2ToMsg (const tf2::Transform &tf2, geometry_msgs::Transform &msg)

void	transformTF2ToMsg (const tf2::Quaternion &orient, const tf2::Vector3 &pos, 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::Transform &tf2, geometry_msgs::TransformStamped &msg, ros::Time stamp, const std::string &frame_id, const std::string &child_frame_id)

Variables
	FullPath

	Identity

static double	QUATERNION_NORMALIZATION_TOLERANCE

	SourceParentOfTarget

	TargetParentOfSource

	TransformAvailable

	TransformFailure

Detailed Description

Author: Wim Meeussen

Function Documentation

◆ doTransform() [1/12]

template<>

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

inline

Apply a geometry_msgs TransformStamped to an geometry_msgs Point type. This function is a specialization of the doTransform template defined in tf2/convert.h.

Parameters

t_in	The point to transform, as a Point3 message.
t_out	The transformed point, as a Point3 message.
transform	The timestamped transform to apply, as a TransformStamped message.

Definition at line 722 of file tf2_geometry_msgs.h.

◆ doTransform() [2/12]

template<>

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

inline

Apply a geometry_msgs TransformStamped to an stamped geometry_msgs Point type. This function is a specialization of the doTransform template defined in tf2/convert.h.

Parameters

t_in	The point to transform, as a timestamped Point3 message.
t_out	The transformed point, as a timestamped Point3 message.
transform	The timestamped transform to apply, as a TransformStamped message.

Definition at line 740 of file tf2_geometry_msgs.h.

◆ doTransform() [3/12]

template<>

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

inline

Apply a geometry_msgs TransformStamped to an geometry_msgs Quaternion type. This function is a specialization of the doTransform template defined in tf2/convert.h.

Parameters

t_in	The quaternion to transform, as a Quaternion3 message.
t_out	The transformed quaternion, as a Quaternion3 message.
transform	The timestamped transform to apply, as a TransformStamped message.

Definition at line 755 of file tf2_geometry_msgs.h.

◆ doTransform() [4/12]

template<>

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

inline

Apply a geometry_msgs TransformStamped to an stamped geometry_msgs Quaternion type. This function is a specialization of the doTransform template defined in tf2/convert.h.

Parameters

t_in	The quaternion to transform, as a timestamped Quaternion3 message.
t_out	The transformed quaternion, as a timestamped Quaternion3 message.
transform	The timestamped transform to apply, as a TransformStamped message.

Definition at line 773 of file tf2_geometry_msgs.h.

◆ doTransform() [5/12]

template<>

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

inline

Apply a geometry_msgs TransformStamped to an geometry_msgs Pose type. This function is a specialization of the doTransform template defined in tf2/convert.h.

Parameters

t_in	The pose to transform, as a Pose3 message.
t_out	The transformed pose, as a Pose3 message.
transform	The timestamped transform to apply, as a TransformStamped message.

Definition at line 789 of file tf2_geometry_msgs.h.

◆ doTransform() [6/12]

template<>

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

inline

Apply a geometry_msgs TransformStamped to an stamped geometry_msgs Pose type. This function is a specialization of the doTransform template defined in tf2/convert.h.

Parameters

t_in	The pose to transform, as a timestamped Pose3 message.
t_out	The transformed pose, as a timestamped Pose3 message.
transform	The timestamped transform to apply, as a TransformStamped message.

Definition at line 810 of file tf2_geometry_msgs.h.

◆ doTransform() [7/12]

template<>

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

inline

Apply a geometry_msgs TransformStamped to an geometry_msgs PoseWithCovarianceStamped type. This function is a specialization of the doTransform template defined in tf2/convert.h.

Parameters

t_in	The pose to transform, as a timestamped PoseWithCovarianceStamped message.
t_out	The transformed pose, as a timestamped PoseWithCovarianceStamped message.
transform	The timestamped transform to apply, as a TransformStamped message.

Definition at line 913 of file tf2_geometry_msgs.h.

◆ doTransform() [8/12]

template<>

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

inline

Apply a geometry_msgs TransformStamped to an geometry_msgs Transform 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 Transform3 message.
t_out	The frame transform, as a timestamped Transform3 message.
transform	The timestamped transform to apply, as a TransformStamped message.

Definition at line 938 of file tf2_geometry_msgs.h.

◆ doTransform() [9/12]

template<>

void tf2::doTransform	(	const geometry_msgs::Vector3 &	t_in,
		geometry_msgs::Vector3 &	t_out,
		const geometry_msgs::TransformStamped &	transform
	)

inline

Apply a geometry_msgs TransformStamped to an geometry_msgs Vector type. This function is a specialization of the doTransform template defined in tf2/convert.h.

Parameters

t_in	The vector to transform, as a Vector3 message.
t_out	The transformed vector, as a Vector3 message.
transform	The timestamped transform to apply, as a TransformStamped message.

Definition at line 960 of file tf2_geometry_msgs.h.

◆ doTransform() [10/12]

template<>

void tf2::doTransform	(	const geometry_msgs::Vector3Stamped &	t_in,
		geometry_msgs::Vector3Stamped &	t_out,
		const geometry_msgs::TransformStamped &	transform
	)

inline

Apply a geometry_msgs TransformStamped to an stamped geometry_msgs Vector 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 Vector3 message.
t_out	The transformed vector, as a timestamped Vector3 message.
transform	The timestamped transform to apply, as a TransformStamped message.

Definition at line 978 of file tf2_geometry_msgs.h.

◆ doTransform() [11/12]

template<>

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

inline

Definition at line 1040 of file tf2_geometry_msgs.h.

◆ doTransform() [12/12]

template<>

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

inline

Definition at line 1049 of file tf2_geometry_msgs.h.

◆ fromMsg() [1/19]

void tf2::fromMsg	(	const geometry_msgs::Vector3 &	in,
		tf2::Vector3 &	out
	)

inline

Convert a Vector3 message to its equivalent tf2 representation. This function is a specialization of the fromMsg template defined in tf2/convert.h.

Parameters

in	A Vector3 message type.
out	The Vector3 converted to a tf2 type.

Definition at line 97 of file tf2_geometry_msgs.h.

◆ fromMsg() [2/19]

void tf2::fromMsg	(	const geometry_msgs::Vector3Stamped &	msg,
		geometry_msgs::Vector3Stamped &	out
	)

inline

Trivial "conversion" function for Vector3 message type. This function is a specialization of the fromMsg template defined in tf2/convert.h.

Parameters

msg	A Vector3Stamped message.
out	The input argument.

Definition at line 145 of file tf2_geometry_msgs.h.

◆ fromMsg() [3/19]

void tf2::fromMsg	(	const geometry_msgs::Vector3Stamped &	msg,
		tf2::Stamped< tf2::Vector3 > &	out
	)

inline

Convert a Vector3Stamped message to its equivalent tf2 representation. This function is a specialization of the fromMsg template defined in tf2/convert.h.

Parameters

msg	A Vector3Stamped message.
out	The Vector3Stamped converted to the equivalent tf2 type.

Definition at line 173 of file tf2_geometry_msgs.h.

◆ fromMsg() [4/19]

void tf2::fromMsg	(	const geometry_msgs::Point &	in,
		tf2::Vector3 &	out
	)

inline

Convert a Vector3 message to its equivalent tf2 representation. This function is a specialization of the fromMsg template defined in tf2/convert.h.

Parameters

in	A Vector3 message type.
out	The Vector3 converted to a tf2 type.

Definition at line 205 of file tf2_geometry_msgs.h.

◆ fromMsg() [5/19]

void tf2::fromMsg	(	const geometry_msgs::PointStamped &	msg,
		geometry_msgs::PointStamped &	out
	)

inline

Trivial "conversion" function for Point message type. This function is a specialization of the fromMsg template defined in tf2/convert.h.

Parameters

msg	A PointStamped message.
out	The input argument.

Definition at line 252 of file tf2_geometry_msgs.h.

◆ fromMsg() [6/19]

void tf2::fromMsg	(	const geometry_msgs::PointStamped &	msg,
		tf2::Stamped< tf2::Vector3 > &	out
	)

inline

Convert a PointStamped message to its equivalent tf2 representation. This function is a specialization of the fromMsg template defined in tf2/convert.h.

Parameters

msg	A PointStamped message.
out	The PointStamped converted to the equivalent tf2 type.

Definition at line 279 of file tf2_geometry_msgs.h.

◆ fromMsg() [7/19]

void tf2::fromMsg	(	const geometry_msgs::Quaternion &	in,
		tf2::Quaternion &	out
	)

inline

Convert a Quaternion message to its equivalent tf2 representation. This function is a specialization of the fromMsg template defined in tf2/convert.h.

Parameters

in	A Quaternion message type.
out	The Quaternion converted to a tf2 type.

Definition at line 313 of file tf2_geometry_msgs.h.

◆ fromMsg() [8/19]

void tf2::fromMsg	(	const geometry_msgs::QuaternionStamped &	msg,
		geometry_msgs::QuaternionStamped &	out
	)

inline

Trivial "conversion" function for Quaternion message type. This function is a specialization of the fromMsg template defined in tf2/convert.h.

Parameters

msg	A QuaternionStamped message.
out	The input argument.

Definition at line 361 of file tf2_geometry_msgs.h.

◆ fromMsg() [9/19]

void tf2::fromMsg	(	const geometry_msgs::QuaternionStamped &	in,
		tf2::Stamped< tf2::Quaternion > &	out
	)

inline

Convert a QuaternionStamped message to its equivalent tf2 representation. This function is a specialization of the fromMsg template defined in tf2/convert.h.

Parameters

in	A QuaternionStamped message type.
out	The QuaternionStamped converted to the equivalent tf2 type.

Definition at line 403 of file tf2_geometry_msgs.h.

◆ fromMsg() [10/19]

void tf2::fromMsg	(	const geometry_msgs::Pose &	in,
		tf2::Transform &	out
	)

inline

Convert a geometry_msgs Pose message to an equivalent tf2 Transform type.

Parameters

in	A Pose message.
out	The Pose converted to a tf2 Transform type.

Definition at line 445 of file tf2_geometry_msgs.h.

◆ fromMsg() [11/19]

void tf2::fromMsg	(	const geometry_msgs::PoseStamped &	msg,
		geometry_msgs::PoseStamped &	out
	)

inline

Trivial "conversion" function for Pose message type. This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

msg	A PoseStamped message.
out	The input argument.

Definition at line 493 of file tf2_geometry_msgs.h.

◆ fromMsg() [12/19]

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

inline

Convert a PoseStamped message to its equivalent tf2 representation. This function is a specialization of the fromMsg template defined in tf2/convert.h.

Parameters

msg	A PoseStamped message.
out	The PoseStamped converted to the equivalent tf2 type.

Definition at line 519 of file tf2_geometry_msgs.h.

◆ fromMsg() [13/19]

void tf2::fromMsg	(	const geometry_msgs::PoseWithCovarianceStamped &	msg,
		geometry_msgs::PoseWithCovarianceStamped &	out
	)

inline

Trivial "conversion" function for PoseWithCovarianceStamped message type. This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

msg	A PoseWithCovarianceStamped message.
out	The input argument.

Definition at line 567 of file tf2_geometry_msgs.h.

◆ fromMsg() [14/19]

void tf2::fromMsg	(	const geometry_msgs::PoseWithCovarianceStamped &	msg,
		tf2::Stamped< tf2::Transform > &	out
	)

inline

Convert a PoseWithCovarianceStamped message to its equivalent tf2 representation. This function is a specialization of the fromMsg template defined in tf2/convert.h.

Parameters

msg	A PoseWithCovarianceStamped message.
out	The PoseWithCovarianceStamped converted to the equivalent tf2 type.

Definition at line 593 of file tf2_geometry_msgs.h.

◆ fromMsg() [15/19]

void tf2::fromMsg	(	const geometry_msgs::Transform &	in,
		tf2::Transform &	out
	)

inline

Convert a Transform message to its equivalent tf2 representation. This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

in	A Transform message type.
out	The Transform converted to a tf2 type.

Definition at line 626 of file tf2_geometry_msgs.h.

◆ fromMsg() [16/19]

void tf2::fromMsg	(	const geometry_msgs::TransformStamped &	msg,
		geometry_msgs::TransformStamped &	out
	)

inline

Convert a TransformStamped message to its equivalent tf2 representation. This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

msg	A TransformStamped message type.
out	The TransformStamped converted to the equivalent tf2 type.

Definition at line 677 of file tf2_geometry_msgs.h.

◆ fromMsg() [17/19]

void tf2::fromMsg	(	const geometry_msgs::TransformStamped &	msg,
		tf2::Stamped< tf2::Transform > &	out
	)

inline

Convert a TransformStamped message to its equivalent tf2 representation. This function is a specialization of the fromMsg template defined in tf2/convert.h.

Parameters

msg	A TransformStamped message.
out	The TransformStamped converted to the equivalent tf2 type.

Definition at line 705 of file tf2_geometry_msgs.h.

◆ fromMsg() [18/19]

void tf2::fromMsg	(	const geometry_msgs::WrenchStamped &	msg,
		geometry_msgs::WrenchStamped &	out
	)

inline

Definition at line 1006 of file tf2_geometry_msgs.h.

◆ fromMsg() [19/19]

void tf2::fromMsg	(	const geometry_msgs::WrenchStamped &	msg,
		tf2::Stamped< std::array< tf2::Vector3, 2 >> &	out
	)

inline

Definition at line 1024 of file tf2_geometry_msgs.h.

◆ getFrameId() [1/7]

template<>

const std::string& tf2::getFrameId ( const geometry_msgs::Vector3Stamped & t )

inline

Extract a frame ID from the header of a Vector message. This function is a specialization of the getFrameId template defined in tf2/convert.h.

Parameters

t	VectorStamped message to extract the frame ID from.

Returns: A string containing the frame ID of the message. The lifetime of the returned reference is bound to the lifetime of the argument.

Definition at line 125 of file tf2_geometry_msgs.h.

◆ getFrameId() [2/7]

template<>

const std::string& tf2::getFrameId ( const geometry_msgs::PointStamped & t )

inline

Extract a frame ID from the header of a Point message. This function is a specialization of the getFrameId template defined in tf2/convert.h.

Parameters

t	PointStamped message to extract the frame ID from.

Returns: A string containing the frame ID of the message. The lifetime of the returned reference is bound to the lifetime of the argument.

Definition at line 233 of file tf2_geometry_msgs.h.

◆ getFrameId() [3/7]

template<>

const std::string& tf2::getFrameId ( const geometry_msgs::QuaternionStamped & t )

inline

Extract a frame ID from the header of a Quaternion message. This function is a specialization of the getFrameId template defined in tf2/convert.h.

Parameters

t	QuaternionStamped message to extract the frame ID from.

Returns: A string containing the frame ID of the message. The lifetime of the returned reference is bound to the lifetime of the argument.

Definition at line 342 of file tf2_geometry_msgs.h.

◆ getFrameId() [4/7]

template<>

const std::string& tf2::getFrameId ( const geometry_msgs::PoseStamped & t )

inline

Extract a frame ID from the header of a Pose message. This function is a specialization of the getFrameId template defined in tf2/convert.h.

Parameters

t	PoseStamped message to extract the frame ID from.

Returns: A string containing the frame ID of the message.

Definition at line 474 of file tf2_geometry_msgs.h.

◆ getFrameId() [5/7]

template<>

const std::string& tf2::getFrameId ( const geometry_msgs::PoseWithCovarianceStamped & t )

inline

Extract a frame ID from the header of a PoseWithCovarianceStamped message. This function is a specialization of the getFrameId template defined in tf2/convert.h.

Parameters

t	PoseWithCovarianceStamped message to extract the frame ID from.

Returns: A string containing the frame ID of the message.

Definition at line 548 of file tf2_geometry_msgs.h.

◆ getFrameId() [6/7]

template<>

const std::string& tf2::getFrameId ( const geometry_msgs::TransformStamped & t )

inline

Extract a frame ID from the header of a Transform message. This function is a specialization of the getFrameId template defined in tf2/convert.h.

Parameters

t	TransformStamped message to extract the frame ID from.

Returns: A string containing the frame ID of the message.

Definition at line 658 of file tf2_geometry_msgs.h.

◆ getFrameId() [7/7]

template<>

const std::string& tf2::getFrameId ( const geometry_msgs::WrenchStamped & t )

inline

Definition at line 996 of file tf2_geometry_msgs.h.

◆ getTimestamp() [1/7]

template<>

const ros::Time& tf2::getTimestamp ( const geometry_msgs::Vector3Stamped & t )

inline

Extract a timestamp from the header of a Vector message. This function is a specialization of the getTimestamp template defined in tf2/convert.h.

Vector3Stamped

Parameters

t	VectorStamped message to extract the timestamp from.

Returns: The timestamp of the message. The lifetime of the returned reference is bound to the lifetime of the argument.

Definition at line 115 of file tf2_geometry_msgs.h.

◆ getTimestamp() [2/7]

template<>

const ros::Time& tf2::getTimestamp ( const geometry_msgs::PointStamped & t )

inline

Extract a timestamp from the header of a Point message. This function is a specialization of the getTimestamp template defined in tf2/convert.h.

PointStamped

Parameters

t	PointStamped message to extract the timestamp from.

Returns: The timestamp of the message. The lifetime of the returned reference is bound to the lifetime of the argument.

Definition at line 223 of file tf2_geometry_msgs.h.

◆ getTimestamp() [3/7]

template<>

const ros::Time& tf2::getTimestamp ( const geometry_msgs::QuaternionStamped & t )

inline

Extract a timestamp from the header of a Quaternion message. This function is a specialization of the getTimestamp template defined in tf2/convert.h.

QuaternionStamped

Parameters

t	QuaternionStamped message to extract the timestamp from.

Returns: The timestamp of the message. The lifetime of the returned reference is bound to the lifetime of the argument.

Definition at line 332 of file tf2_geometry_msgs.h.

◆ getTimestamp() [4/7]

template<>

const ros::Time& tf2::getTimestamp ( const geometry_msgs::PoseStamped & t )

inline

Extract a timestamp from the header of a Pose message. This function is a specialization of the getTimestamp template defined in tf2/convert.h.

PoseStamped

Parameters

t	PoseStamped message to extract the timestamp from.

Returns: The timestamp of the message.

Definition at line 465 of file tf2_geometry_msgs.h.

◆ getTimestamp() [5/7]

template<>

const ros::Time& tf2::getTimestamp ( const geometry_msgs::PoseWithCovarianceStamped & t )

inline

Extract a timestamp from the header of a PoseWithCovarianceStamped message. This function is a specialization of the getTimestamp template defined in tf2/convert.h.

PoseWithCovarianceStamped

Parameters

t	PoseWithCovarianceStamped message to extract the timestamp from.

Returns: The timestamp of the message.

Definition at line 539 of file tf2_geometry_msgs.h.

◆ getTimestamp() [6/7]

template<>

const ros::Time& tf2::getTimestamp ( const geometry_msgs::TransformStamped & t )

inline

Extract a timestamp from the header of a Transform message. This function is a specialization of the getTimestamp template defined in tf2/convert.h.

TransformStamped

Parameters

t	TransformStamped message to extract the timestamp from.

Returns: The timestamp of the message.

Definition at line 649 of file tf2_geometry_msgs.h.

◆ getTimestamp() [7/7]

template<>

const ros::Time& tf2::getTimestamp ( const geometry_msgs::WrenchStamped & t )

inline

Definition at line 991 of file tf2_geometry_msgs.h.

◆ gmTransformToKDL()

KDL::Frame tf2::gmTransformToKDL ( const geometry_msgs::TransformStamped & t )

inline

Convert a TransformStamped message to a KDL frame.

Parameters

t	TransformStamped message to convert.

Returns: The converted KDL Frame.

Deprecated:

Definition at line 64 of file tf2_geometry_msgs.h.

◆ toMsg() [1/19]

geometry_msgs::Vector3 tf2::toMsg ( const tf2::Vector3 & in )

inline

Convert a tf2 Vector3 type to its equivalent geometry_msgs representation. This function is a specialization of the toMsg template defined in tf2/convert.h.

Vector3

Parameters

in	A tf2 Vector3 object.

Returns: The Vector3 converted to a geometry_msgs message type.

Definition at line 82 of file tf2_geometry_msgs.h.

◆ toMsg() [2/19]

geometry_msgs::Vector3Stamped tf2::toMsg ( const geometry_msgs::Vector3Stamped & in )

inline

Trivial "conversion" function for Vector3 message type. This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

in	A Vector3Stamped message.

Returns: The input argument.

Definition at line 134 of file tf2_geometry_msgs.h.

◆ toMsg() [3/19]

geometry_msgs::Vector3Stamped tf2::toMsg ( const tf2::Stamped< tf2::Vector3 > & in )

inline

Convert as stamped tf2 Vector3 type to its equivalent geometry_msgs representation. This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

in	An instance of the tf2::Vector3 specialization of the tf2::Stamped template.

Returns: The Vector3Stamped converted to a geometry_msgs Vector3Stamped message type.

Definition at line 156 of file tf2_geometry_msgs.h.

◆ toMsg() [4/19]

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

inline

Convert a tf2 Vector3 type to its equivalent geometry_msgs representation. This function is a specialization of the toMsg template defined in tf2/convert.h.

Point

Parameters

in	A tf2 Vector3 object.

Returns: The Vector3 converted to a geometry_msgs message type.

Definition at line 191 of file tf2_geometry_msgs.h.

◆ toMsg() [5/19]

geometry_msgs::PointStamped tf2::toMsg ( const geometry_msgs::PointStamped & in )

inline

Trivial "conversion" function for Point message type. This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

in	A PointStamped message.

Returns: The input argument.

Definition at line 241 of file tf2_geometry_msgs.h.

◆ toMsg() [6/19]

geometry_msgs::PointStamped tf2::toMsg	(	const tf2::Stamped< tf2::Vector3 > &	in,
		geometry_msgs::PointStamped &	out
	)

inline

Convert as stamped tf2 Vector3 type to its equivalent geometry_msgs representation. This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

in	An instance of the tf2::Vector3 specialization of the tf2::Stamped template.

Returns: The Vector3Stamped converted to a geometry_msgs PointStamped message type.

Definition at line 263 of file tf2_geometry_msgs.h.

◆ toMsg() [7/19]

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

inline

Convert a tf2 Quaternion type to its equivalent geometry_msgs representation. This function is a specialization of the toMsg template defined in tf2/convert.h.

Quaternion

Parameters

in	A tf2 Quaternion object.

Returns: The Quaternion converted to a geometry_msgs message type.

Definition at line 297 of file tf2_geometry_msgs.h.

◆ toMsg() [8/19]

geometry_msgs::QuaternionStamped tf2::toMsg ( const geometry_msgs::QuaternionStamped & in )

inline

Trivial "conversion" function for Quaternion message type. This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

in	A QuaternionStamped message.

Returns: The input argument.

Definition at line 350 of file tf2_geometry_msgs.h.

◆ toMsg() [9/19]

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

inline

Convert as stamped tf2 Quaternion type to its equivalent geometry_msgs representation. This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

in	An instance of the tf2::Quaternion specialization of the tf2::Stamped template.

Returns: The QuaternionStamped converted to a geometry_msgs QuaternionStamped message type.

Definition at line 372 of file tf2_geometry_msgs.h.

◆ toMsg() [10/19]

geometry_msgs::Pose& tf2::toMsg	(	const tf2::Transform &	in,
		geometry_msgs::Pose &	out
	)

inline

Convert a tf2 Transform type to an equivalent geometry_msgs Pose message.

Pose

Parameters

in	A tf2 Transform object.
out	The Transform converted to a geometry_msgs Pose message type.

Definition at line 433 of file tf2_geometry_msgs.h.

◆ toMsg() [11/19]

geometry_msgs::PoseStamped tf2::toMsg ( const geometry_msgs::PoseStamped & in )

inline

Trivial "conversion" function for Pose message type. This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

in	A PoseStamped message.

Returns: The input argument.

Definition at line 482 of file tf2_geometry_msgs.h.

◆ toMsg() [12/19]

geometry_msgs::PoseStamped tf2::toMsg	(	const tf2::Stamped< tf2::Transform > &	in,
		geometry_msgs::PoseStamped &	out
	)

inline

Convert as stamped tf2 Pose type to its equivalent geometry_msgs representation. This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

in	An instance of the tf2::Pose specialization of the tf2::Stamped template.

Returns: The PoseStamped converted to a geometry_msgs PoseStamped message type.

Definition at line 504 of file tf2_geometry_msgs.h.

◆ toMsg() [13/19]

geometry_msgs::PoseWithCovarianceStamped tf2::toMsg ( const geometry_msgs::PoseWithCovarianceStamped & in )

inline

Trivial "conversion" function for PoseWithCovarianceStamped message type. This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

in	A PoseWithCovarianceStamped message.

Returns: The input argument.

Definition at line 556 of file tf2_geometry_msgs.h.

◆ toMsg() [14/19]

geometry_msgs::PoseWithCovarianceStamped tf2::toMsg	(	const tf2::Stamped< tf2::Transform > &	in,
		geometry_msgs::PoseWithCovarianceStamped &	out
	)

inline

Convert as stamped tf2 PoseWithCovarianceStamped type to its equivalent geometry_msgs representation. This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

in	An instance of the tf2::Pose specialization of the tf2::Stamped template.

Returns: The PoseWithCovarianceStamped converted to a geometry_msgs PoseWithCovarianceStamped message type.

Definition at line 578 of file tf2_geometry_msgs.h.

◆ toMsg() [15/19]

geometry_msgs::Transform tf2::toMsg ( const tf2::Transform & in )

inline

Convert a tf2 Transform type to its equivalent geometry_msgs representation. This function is a specialization of the toMsg template defined in tf2/convert.h.

Transform

Parameters

in	A tf2 Transform object.

Returns: The Transform converted to a geometry_msgs message type.

Definition at line 612 of file tf2_geometry_msgs.h.

◆ toMsg() [16/19]

geometry_msgs::TransformStamped tf2::toMsg ( const geometry_msgs::TransformStamped & in )

inline

Trivial "conversion" function for Transform message type. This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

in	A TransformStamped message.

Returns: The input argument.

Definition at line 666 of file tf2_geometry_msgs.h.

◆ toMsg() [17/19]

geometry_msgs::TransformStamped tf2::toMsg ( const tf2::Stamped< tf2::Transform > & in )

inline

Convert as stamped tf2 Transform type to its equivalent geometry_msgs representation. This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

in	An instance of the tf2::Transform specialization of the tf2::Stamped template.

Returns: The tf2::Stamped<tf2::Transform> converted to a geometry_msgs TransformStamped message type.

Definition at line 688 of file tf2_geometry_msgs.h.

◆ toMsg() [18/19]

geometry_msgs::WrenchStamped tf2::toMsg ( const geometry_msgs::WrenchStamped & in )

inline

Definition at line 1000 of file tf2_geometry_msgs.h.

◆ toMsg() [19/19]

geometry_msgs::WrenchStamped tf2::toMsg	(	const tf2::Stamped< std::array< tf2::Vector3, 2 >> &	in,
		geometry_msgs::WrenchStamped &	out
	)

inline

Definition at line 1013 of file tf2_geometry_msgs.h.

◆ transformCovariance()

geometry_msgs::PoseWithCovariance::_covariance_type tf2::transformCovariance	(	const geometry_msgs::PoseWithCovariance::_covariance_type &	cov_in,
		const tf2::Transform &	transform
	)

inline

Transform the covariance matrix of a PoseWithCovarianceStamped message to a new frame.

Parameters

t_in	The covariance matrix to transform.
transform	The timestamped transform to apply, as a TransformStamped message.

Returns: The transformed covariance matrix.

To transform a covariance matrix:

[R 0] COVARIANCE [R' 0 ] [0 R] [0 R']

Where: R is the rotation matrix (3x3). R' is the transpose of the rotation matrix. COVARIANCE is the 6x6 covariance matrix to be transformed.

Definition at line 823 of file tf2_geometry_msgs.h.

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Detailed Description

Function Documentation

◆ doTransform() [1/12]

◆ doTransform() [2/12]

◆ doTransform() [3/12]

◆ doTransform() [4/12]

◆ doTransform() [5/12]

◆ doTransform() [6/12]

◆ doTransform() [7/12]

◆ doTransform() [8/12]

◆ doTransform() [9/12]

◆ doTransform() [10/12]

◆ doTransform() [11/12]

◆ doTransform() [12/12]

◆ fromMsg() [1/19]

◆ fromMsg() [2/19]

◆ fromMsg() [3/19]

◆ fromMsg() [4/19]

◆ fromMsg() [5/19]

◆ fromMsg() [6/19]

◆ fromMsg() [7/19]

◆ fromMsg() [8/19]

◆ fromMsg() [9/19]

◆ fromMsg() [10/19]

◆ fromMsg() [11/19]

◆ fromMsg() [12/19]

◆ fromMsg() [13/19]

◆ fromMsg() [14/19]

◆ fromMsg() [15/19]

◆ fromMsg() [16/19]

◆ fromMsg() [17/19]

◆ fromMsg() [18/19]

◆ fromMsg() [19/19]

◆ getFrameId() [1/7]

◆ getFrameId() [2/7]

◆ getFrameId() [3/7]

◆ getFrameId() [4/7]

◆ getFrameId() [5/7]

◆ getFrameId() [6/7]

◆ getFrameId() [7/7]

◆ getTimestamp() [1/7]

◆ getTimestamp() [2/7]

◆ getTimestamp() [3/7]

◆ getTimestamp() [4/7]

◆ getTimestamp() [5/7]

◆ getTimestamp() [6/7]

◆ getTimestamp() [7/7]

◆ gmTransformToKDL()

◆ toMsg() [1/19]

◆ toMsg() [2/19]

◆ toMsg() [3/19]

◆ toMsg() [4/19]

◆ toMsg() [5/19]

◆ toMsg() [6/19]

◆ toMsg() [7/19]

◆ toMsg() [8/19]

◆ toMsg() [9/19]

◆ toMsg() [10/19]

◆ toMsg() [11/19]

◆ toMsg() [12/19]

◆ toMsg() [13/19]

◆ toMsg() [14/19]

◆ toMsg() [15/19]

◆ toMsg() [16/19]

◆ toMsg() [17/19]

◆ toMsg() [18/19]

◆ toMsg() [19/19]

◆ transformCovariance()