tf2 namespace extension for message conversion overload resolution. More...

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)

template<template< typename, std::size_t > class Array, typename Scalar >
Array< Scalar, 36 > &	covarianceEigenToRowMajor (const Sophus::Matrix3< Scalar > &in, Array< Scalar, 36 > &out)
	Converts a Sophus (ie. Eigen) 3x3 covariance matrix to a 6x6 row-major array. More...

template<template< typename, std::size_t > class Array, typename Scalar >
Sophus::Matrix3< Scalar > &	covarianceRowMajorToEigen (const Array< Scalar, 36 > &in, Sophus::Matrix3< Scalar > &out)
	Converts a 6x6 row-major array to an Eigen 3x3 covariance matrix. More...

TF2SIMD_FORCE_INLINE tf2Scalar	dot (const Quaternion &q1, const Quaternion &q2)

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

void	doTransform (const T &data_in, T &data_out, const geometry_msgs::TransformStamped &transform)

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

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

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

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

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

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

void	fromMsg (const A &, B &b)

template<class Scalar >
void	fromMsg (const beluga_ros::msg::Pose &msg, Sophus::SE2< Scalar > &out)
	Converts a Pose message type to a Sophus SE2 type. More...

template<class Scalar >
void	fromMsg (const beluga_ros::msg::Pose &msg, Sophus::SE3< Scalar > &out)
	Converts a Pose message type to a Sophus SE3 type. More...

template<class Scalar >
void	fromMsg (const beluga_ros::msg::Transform &msg, Sophus::SE2< Scalar > &out)
	Converts a Transform message type to a Sophus SE2 type. More...

template<class Scalar >
void	fromMsg (const beluga_ros::msg::Transform &msg, Sophus::SE3< Scalar > &out)
	Converts a Transform message type to a Sophus SE3 type. More...

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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 geometry_msgs::PointStamped &t)

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

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

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

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

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

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

const std::string &	getFrameId (const T &t)

const std::string &	getFrameId (const tf2::Stamped< P > &t)

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

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

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

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

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

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

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

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

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

A	getTransformIdentity ()

double	getYaw (const A &a)

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

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 Matrix3x3 &m, const Vector3 &v)

TF2SIMD_FORCE_INLINE Matrix3x3	operator* (const Matrix3x3 &m1, const Matrix3x3 &m2)

TF2SIMD_FORCE_INLINE Quaternion	operator* (const Quaternion &q, const Vector3 &w)

TF2SIMD_FORCE_INLINE Quaternion	operator* (const Quaternion &q1, const Quaternion &q2)

TF2SIMD_FORCE_INLINE Vector3	operator* (const tf2Scalar &s, const Vector3 &v)

TF2SIMD_FORCE_INLINE Vector3	operator* (const Vector3 &v, const Matrix3x3 &m)

TF2SIMD_FORCE_INLINE Vector3	operator* (const Vector3 &v, const tf2Scalar &s)

TF2SIMD_FORCE_INLINE Vector3	operator* (const Vector3 &v1, const Vector3 &v2)

TF2SIMD_FORCE_INLINE Quaternion	operator* (const Vector3 &w, const Quaternion &q)

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 &v)

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)

TF2SIMD_FORCE_INLINE bool	operator== (const Matrix3x3 &m1, const Matrix3x3 &m2)

bool	operator== (const Stamped< T > &a, const Stamped< T > &b)

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

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

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

template<class Scalar >
beluga_ros::msg::Point	toMsg (const Eigen::Matrix< Scalar, 2, 1 > &in)
	Converts an Eigen Vector2 type to a Point message. More...

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

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

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

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

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

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

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

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

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

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

template<class Scalar >
beluga_ros::msg::Transform	toMsg (const Sophus::SE2< Scalar > &in)
	Converts a Sophus SE2 type to a Transform message. More...

template<class Scalar >
beluga_ros::msg::Pose &	toMsg (const Sophus::SE2< Scalar > &in, beluga_ros::msg::Pose &out)
	Converts a Sophus SE2 type to a Pose message. More...

template<class Scalar >
beluga_ros::msg::Transform	toMsg (const Sophus::SE3< Scalar > &in)
	Converts a Sophus SE3 type to a Transform message. More...

template<class Scalar >
beluga_ros::msg::Pose &	toMsg (const Sophus::SE3< Scalar > &in, beluga_ros::msg::Pose &out)
	Converts a Sophus SE3 type to a Pose message. More...

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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::Transform &msg)

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

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

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

Variables
	FullPath

	Identity

static double	QUATERNION_NORMALIZATION_TOLERANCE

	SourceParentOfTarget

	TargetParentOfSource

	TransformAvailable

	TransformFailure

Detailed Description

tf2 namespace extension for message conversion overload resolution.

Function Documentation

◆ covarianceEigenToRowMajor()

template<template< typename, std::size_t > class Array, typename Scalar >

Array<Scalar, 36>& tf2::covarianceEigenToRowMajor	(	const Sophus::Matrix3< Scalar > &	in,
		Array< Scalar, 36 > &	out
	)

inline

Converts a Sophus (ie. Eigen) 3x3 covariance matrix to a 6x6 row-major array.

Parameters

in	A Sophus (ie. Eigen) 3x3 covariance matrix of a 2D pose (x, y, yaw).
out	A row-major array of 36 covariance values of a 3D pose.

Returns: a reference to out.

Definition at line 214 of file tf2_sophus.hpp.

◆ covarianceRowMajorToEigen()

template<template< typename, std::size_t > class Array, typename Scalar >

Sophus::Matrix3<Scalar>& tf2::covarianceRowMajorToEigen	(	const Array< Scalar, 36 > &	in,
		Sophus::Matrix3< Scalar > &	out
	)

inline

Converts a 6x6 row-major array to an Eigen 3x3 covariance matrix.

Parameters

in	A row-major array of 36 covariance values of a 3D pose.
out	A Sophus (ie. Eigen) 3x3 covariance matrix of a 2D pose (x, y, yaw).

Returns: A Sophus (ie. Eigen) 3x3 covariance matrix of a 2D pose (x, y, yaw).

Definition at line 235 of file tf2_sophus.hpp.

◆ fromMsg() [1/4]

template<class Scalar >

void tf2::fromMsg	(	const beluga_ros::msg::Pose &	msg,
		Sophus::SE2< Scalar > &	out
	)

inline

Converts a Pose message type to a Sophus SE2 type.

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 Sophus SE2 element.

Definition at line 177 of file tf2_sophus.hpp.

◆ fromMsg() [2/4]

template<class Scalar >

void tf2::fromMsg	(	const beluga_ros::msg::Pose &	msg,
		Sophus::SE3< Scalar > &	out
	)

inline

Converts a Pose message type to a Sophus SE3 type.

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 Sophus SE3 element.

Definition at line 193 of file tf2_sophus.hpp.

◆ fromMsg() [3/4]

template<class Scalar >

void tf2::fromMsg	(	const beluga_ros::msg::Transform &	msg,
		Sophus::SE2< Scalar > &	out
	)

inline

Converts a Transform message type to a Sophus SE2 type.

This function is a specialization of the fromMsg template defined in tf2/convert.h.

Parameters

msg	The transform message to convert.
out	The transform converted to a Sophus SE2 element.

Definition at line 139 of file tf2_sophus.hpp.

◆ fromMsg() [4/4]

template<class Scalar >

void tf2::fromMsg	(	const beluga_ros::msg::Transform &	msg,
		Sophus::SE3< Scalar > &	out
	)

inline

Converts a Transform message type to a Sophus SE3 type.

This function is a specialization of the fromMsg template defined in tf2/convert.h.

Parameters

msg	The transform message to convert.
out	The transform converted to a Sophus SE3 element.

Definition at line 155 of file tf2_sophus.hpp.

◆ toMsg() [1/5]

template<class Scalar >

beluga_ros::msg::Point tf2::toMsg ( const Eigen::Matrix< Scalar, 2, 1 > & in )

inline

Converts an Eigen Vector2 type to a Point message.

Parameters

in	The Eigen Vector2 element to convert.

Returns: The converted Point message.

Definition at line 46 of file tf2_eigen.hpp.

◆ toMsg() [2/5]

template<class Scalar >

beluga_ros::msg::Transform tf2::toMsg ( const Sophus::SE2< Scalar > & in )

inline

Converts a Sophus SE2 type to a Transform message.

This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

in	The Sophus SE2 element to convert.

Returns: The transform converted to a Transform message.

Definition at line 98 of file tf2_sophus.hpp.

◆ toMsg() [3/5]

template<class Scalar >

beluga_ros::msg::Pose& tf2::toMsg	(	const Sophus::SE2< Scalar > &	in,
		beluga_ros::msg::Pose &	out
	)

inline

Converts a Sophus SE2 type to a Pose message.

The canonical message for an SE2 instance is Transform. If a Pose message is needed, this function must be called directly using tf2::toMsg, not through the tf2::convert customization function.

Parameters

in	The Sophus SE2 element to convert.
out	The pose converted to a Pose message.

Returns: The pose converted to a Pose message.

Definition at line 56 of file tf2_sophus.hpp.

◆ toMsg() [4/5]

template<class Scalar >

beluga_ros::msg::Transform tf2::toMsg ( const Sophus::SE3< Scalar > & in )

inline

Converts a Sophus SE3 type to a Transform message.

This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

in	The Sophus SE3 element to convert.

Returns: The transform converted to a Transform message.

Definition at line 119 of file tf2_sophus.hpp.

◆ toMsg() [5/5]

template<class Scalar >

beluga_ros::msg::Pose& tf2::toMsg	(	const Sophus::SE3< Scalar > &	in,
		beluga_ros::msg::Pose &	out
	)

inline

Converts a Sophus SE3 type to a Pose message.

The canonical message for an SE3 instance is Transform. If a Pose message is needed, this function must be called directly using tf2::toMsg, not through the tf2::convert customization function.

Parameters

in	The Sophus SE3 element to convert.
out	The pose converted to a Pose message.

Returns: The pose converted to a Pose message.

Definition at line 79 of file tf2_sophus.hpp.

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Detailed Description

Function Documentation

◆ covarianceEigenToRowMajor()

◆ covarianceRowMajorToEigen()

◆ fromMsg() [1/4]

◆ fromMsg() [2/4]

◆ fromMsg() [3/4]

◆ fromMsg() [4/4]

◆ toMsg() [1/5]

◆ toMsg() [2/5]

◆ toMsg() [3/5]

◆ toMsg() [4/5]

◆ toMsg() [5/5]