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

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

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

template<>
void	doTransform (const tf2::Stamped< KDL::Frame > &t_in, tf2::Stamped< KDL::Frame > &t_out, const geometry_msgs::TransformStamped &transform)
	Apply a geometry_msgs TransformStamped to a KDL-specific Frame 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< KDL::Vector > &out)
	Convert a PointStamped message type to a stamped KDL-specific Vector type. This function is a specialization of the fromMsg template defined in tf2/convert.h. More...

void	fromMsg (const geometry_msgs::TwistStamped &msg, tf2::Stamped< KDL::Twist > &out)
	Convert a TwistStamped message type to a stamped KDL-specific Twist type. This function is a specialization of the fromMsg template defined in tf2/convert.h. More...

void	fromMsg (const geometry_msgs::WrenchStamped &msg, tf2::Stamped< KDL::Wrench > &out)
	Convert a WrenchStamped message type to a stamped KDL-specific Wrench type. This function is a specialization of the fromMsg template defined in tf2/convert.h. More...

void	fromMsg (const geometry_msgs::Pose &msg, KDL::Frame &out)
	Convert a Pose message type to a KDL Frame. This function is a specialization of the fromMsg template defined in tf2/convert.h. More...

void	fromMsg (const geometry_msgs::PoseStamped &msg, tf2::Stamped< KDL::Frame > &out)
	Convert a Pose message transform type to a stamped KDL Frame. 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)

geometry_msgs::TransformStamped	kdlToTransform (const KDL::Frame &k)
	Convert an KDL Frame to the equivalent geometry_msgs message type. More...

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 &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 Matrix3x3 &m1, const Matrix3x3 &m2)

TF2SIMD_FORCE_INLINE bool	operator== (const Transform &t1, const Transform &t2)

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< KDL::Vector > &in)
	Convert a stamped KDL Vector type to a PointStamped message. This function is a specialization of the toMsg template defined in tf2/convert.h. More...

geometry_msgs::TwistStamped	toMsg (const tf2::Stamped< KDL::Twist > &in)
	Convert a stamped KDL Twist type to a TwistStamped message. This function is a specialization of the toMsg template defined in tf2/convert.h. More...

geometry_msgs::WrenchStamped	toMsg (const tf2::Stamped< KDL::Wrench > &in)
	Convert a stamped KDL Wrench type to a WrenchStamped message. This function is a specialization of the toMsg template defined in tf2/convert.h. More...

geometry_msgs::Pose	toMsg (const KDL::Frame &in)
	Convert a stamped KDL Frame 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< KDL::Frame > &in)
	Convert a stamped KDL Frame type to a Pose 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::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)

KDL::Frame	transformToKDL (const geometry_msgs::TransformStamped &t)
	Convert a timestamped transform to the equivalent KDL data type. More...

Variables
	FullPath

	Identity

static double	QUATERNION_NORMALIZATION_TOLERANCE

	SourceParentOfTarget

	TargetParentOfSource

	TransformAvailable

	TransformFailure

Detailed Description

Author: Wim Meeussen

Function Documentation

◆ doTransform() [1/4]

template<>

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

inline

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

Definition at line 84 of file tf2_kdl.h.

◆ doTransform() [2/4]

template<>

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

inline

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

Parameters

t_in	The twist to transform, as a timestamped KDL Twist data type.
t_out	The transformed Twist, as a timestamped KDL Frame data type.
transform	The timestamped transform to apply, as a TransformStamped message.

Definition at line 132 of file tf2_kdl.h.

◆ doTransform() [3/4]

template<>

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

inline

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

Parameters

t_in	The wrench to transform, as a timestamped KDL Wrench data type.
t_out	The transformed Wrench, as a timestamped KDL Frame data type.
transform	The timestamped transform to apply, as a TransformStamped message.

Definition at line 187 of file tf2_kdl.h.

◆ doTransform() [4/4]

template<>

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

inline

Apply a geometry_msgs TransformStamped to a KDL-specific Frame 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 KDL Frame.
t_out	The transformed frame, as a timestamped KDL Frame.
transform	The timestamped transform to apply, as a TransformStamped message.

Definition at line 244 of file tf2_kdl.h.

◆ fromMsg() [1/5]

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

inline

Convert a PointStamped message type to a stamped KDL-specific Vector 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 KDL Vector.

Definition at line 112 of file tf2_kdl.h.

◆ fromMsg() [2/5]

void tf2::fromMsg	(	const geometry_msgs::TwistStamped &	msg,
		tf2::Stamped< KDL::Twist > &	out
	)

inline

Convert a TwistStamped message type to a stamped KDL-specific Twist type. This function is a specialization of the fromMsg template defined in tf2/convert.h.

Parameters

msg	The TwistStamped message to convert.
out	The twist converted to a timestamped KDL Twist.

Definition at line 163 of file tf2_kdl.h.

◆ fromMsg() [3/5]

void tf2::fromMsg	(	const geometry_msgs::WrenchStamped &	msg,
		tf2::Stamped< KDL::Wrench > &	out
	)

inline

Convert a WrenchStamped message type to a stamped KDL-specific Wrench type. This function is a specialization of the fromMsg template defined in tf2/convert.h.

Parameters

msg	The WrenchStamped message to convert.
out	The wrench converted to a timestamped KDL Wrench.

Definition at line 218 of file tf2_kdl.h.

◆ fromMsg() [4/5]

void tf2::fromMsg	(	const geometry_msgs::Pose &	msg,
		KDL::Frame &	out
	)

inline

Convert a Pose message type to a KDL Frame. This function is a specialization of the fromMsg template defined in tf2/convert.h.

Parameters

msg	The Pose message to convert.
out	The pose converted to a KDL Frame.

Definition at line 271 of file tf2_kdl.h.

◆ fromMsg() [5/5]

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

inline

Convert a Pose message transform type to a stamped KDL Frame. This function is a specialization of the fromMsg template defined in tf2/convert.h.

Parameters

msg	The PoseStamped message to convert.
out	The pose converted to a timestamped KDL Frame.

Definition at line 300 of file tf2_kdl.h.

◆ kdlToTransform()

geometry_msgs::TransformStamped tf2::kdlToTransform ( const KDL::Frame & k )

inline

Convert an KDL Frame to the equivalent geometry_msgs message type.

Parameters

k	The transform to convert, as an KDL Frame.

Returns: The transform converted to a TransformStamped message.

Definition at line 63 of file tf2_kdl.h.

◆ toMsg() [1/5]

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

inline

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

Parameters

in	The timestamped KDL Vector to convert.

Returns: The vector converted to a PointStamped message.

Definition at line 95 of file tf2_kdl.h.

◆ toMsg() [2/5]

geometry_msgs::TwistStamped tf2::toMsg ( const tf2::Stamped< KDL::Twist > & in )

inline

Convert a stamped KDL Twist type to a TwistStamped message. This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

in	The timestamped KDL Twist to convert.

Returns: The twist converted to a TwistStamped message.

Definition at line 143 of file tf2_kdl.h.

◆ toMsg() [3/5]

geometry_msgs::WrenchStamped tf2::toMsg ( const tf2::Stamped< KDL::Wrench > & in )

inline

Convert a stamped KDL Wrench type to a WrenchStamped message. This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

in	The timestamped KDL Wrench to convert.

Returns: The wrench converted to a WrenchStamped message.

Definition at line 198 of file tf2_kdl.h.

◆ toMsg() [4/5]

geometry_msgs::Pose tf2::toMsg ( const KDL::Frame & in )

inline

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

Parameters

in	The timestamped KDL Frame to convert.

Returns: The frame converted to a Pose message.

Definition at line 255 of file tf2_kdl.h.

◆ toMsg() [5/5]

geometry_msgs::PoseStamped tf2::toMsg ( const tf2::Stamped< KDL::Frame > & in )

inline

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

Parameters

in	The timestamped KDL Frame to convert.

Returns: The frame converted to a PoseStamped message.

Definition at line 285 of file tf2_kdl.h.

◆ transformToKDL()

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

inline

Convert a timestamped transform to the equivalent KDL data type.

Parameters

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

Returns: The transform message converted to an KDL Frame.

Definition at line 51 of file tf2_kdl.h.

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Detailed Description

Function Documentation

◆ doTransform() [1/4]

◆ doTransform() [2/4]

◆ doTransform() [3/4]

◆ doTransform() [4/4]

◆ fromMsg() [1/5]

◆ fromMsg() [2/5]

◆ fromMsg() [3/5]

◆ fromMsg() [4/5]

◆ fromMsg() [5/5]

◆ kdlToTransform()

◆ toMsg() [1/5]

◆ toMsg() [2/5]

◆ toMsg() [3/5]

◆ toMsg() [4/5]

◆ toMsg() [5/5]

◆ transformToKDL()