Program Listing for File tf2_sensor_msgs.h
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//Remove this header when https://github.com/ros/geometry_experimental/pull/78 is released
/*
* Copyright (c) 2008, Willow Garage, Inc.
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* modification, are permitted provided that the following conditions are met:
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* contributors may be used to endorse or promote products derived from
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*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifndef TF2_SENSOR_MSGS_H
#define TF2_SENSOR_MSGS_H
#include <tf2/convert.h>
#include <sensor_msgs/msg/imu.hpp>
#include <sensor_msgs/msg/magnetic_field.hpp>
#include <Eigen/Eigen>
#include <Eigen/Geometry>
namespace tf2
{
/**********/
/**********/
template <>
inline
tf2::TimePoint getTimestamp(const sensor_msgs::msg::Imu& p) {return tf2_ros::fromMsg(p.header.stamp);}
template <>
inline
std::string getFrameId(const sensor_msgs::msg::Imu &p) {return p.header.frame_id;}
inline
void transformCovariance(const std::array<double, 9>& in, std::array<double, 9>& out, Eigen::Quaternion<double> r){
Eigen::Map<const Eigen::Matrix<double, 3, 3, Eigen::RowMajor> > cov_in(in.data());
Eigen::Map<Eigen::Matrix<double, 3, 3, Eigen::RowMajor> > cov_out(out.data());
cov_out = r * cov_in * r.inverse();
}
template <>
inline
void doTransform(const sensor_msgs::msg::Imu &imu_in, sensor_msgs::msg::Imu &imu_out, const geometry_msgs::msg::TransformStamped& t_in)
{
imu_out.header = t_in.header;
// Discard translation, only use orientation for IMU transform
Eigen::Quaternion<double> r(
t_in.transform.rotation.w, t_in.transform.rotation.x, t_in.transform.rotation.y, t_in.transform.rotation.z);
Eigen::Transform<double,3,Eigen::Affine> t(r);
Eigen::Vector3d vel = t * Eigen::Vector3d(
imu_in.angular_velocity.x, imu_in.angular_velocity.y, imu_in.angular_velocity.z);
imu_out.angular_velocity.x = vel.x();
imu_out.angular_velocity.y = vel.y();
imu_out.angular_velocity.z = vel.z();
transformCovariance(imu_in.angular_velocity_covariance, imu_out.angular_velocity_covariance, r);
Eigen::Vector3d accel = t * Eigen::Vector3d(
imu_in.linear_acceleration.x, imu_in.linear_acceleration.y, imu_in.linear_acceleration.z);
imu_out.linear_acceleration.x = accel.x();
imu_out.linear_acceleration.y = accel.y();
imu_out.linear_acceleration.z = accel.z();
transformCovariance(imu_in.linear_acceleration_covariance, imu_out.linear_acceleration_covariance, r);
// Orientation expresses attitude of the new frame_id in a fixed world frame. This is why the transform here applies
// in the opposite direction.
Eigen::Quaternion<double> orientation = Eigen::Quaternion<double>(
imu_in.orientation.w, imu_in.orientation.x, imu_in.orientation.y, imu_in.orientation.z) * r.inverse();
imu_out.orientation.w = orientation.w();
imu_out.orientation.x = orientation.x();
imu_out.orientation.y = orientation.y();
imu_out.orientation.z = orientation.z();
// Orientation is measured relative to the fixed world frame, so it doesn't change when applying a static
// transform to the sensor frame.
imu_out.orientation_covariance = imu_in.orientation_covariance;
}
inline
sensor_msgs::msg::Imu toMsg(const sensor_msgs::msg::Imu &in)
{
return in;
}
inline
void fromMsg(const sensor_msgs::msg::Imu &msg, sensor_msgs::msg::Imu &out)
{
out = msg;
}
/*********************/
/*********************/
template <>
inline
tf2::TimePoint getTimestamp(const sensor_msgs::msg::MagneticField& p) {return tf2_ros::fromMsg(p.header.stamp);}
template <>
inline
std::string getFrameId(const sensor_msgs::msg::MagneticField &p) {return p.header.frame_id;}
template <>
inline
void doTransform(const sensor_msgs::msg::MagneticField &mag_in, sensor_msgs::msg::MagneticField &mag_out, const geometry_msgs::msg::TransformStamped& t_in)
{
mag_out.header = t_in.header;
// Discard translation, only use orientation for Magnetic Field transform
Eigen::Quaternion<double> r(
t_in.transform.rotation.w, t_in.transform.rotation.x, t_in.transform.rotation.y, t_in.transform.rotation.z);
Eigen::Transform<double,3,Eigen::Affine> t(r);
Eigen::Vector3d mag = t * Eigen::Vector3d(
mag_in.magnetic_field.x, mag_in.magnetic_field.y, mag_in.magnetic_field.z);
mag_out.magnetic_field.x = mag.x();
mag_out.magnetic_field.y = mag.y();
mag_out.magnetic_field.z = mag.z();
transformCovariance(mag_in.magnetic_field_covariance, mag_out.magnetic_field_covariance, r);
}
inline
sensor_msgs::msg::MagneticField toMsg(const sensor_msgs::msg::MagneticField &in)
{
return in;
}
inline
void fromMsg(const sensor_msgs::msg::MagneticField &msg, sensor_msgs::msg::MagneticField &out)
{
out = msg;
}
} // namespace
#endif // TF2_SENSOR_MSGS_IMU_H