Program Listing for File tf2_bullet.hpp
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// Copyright 2008 Willow Garage, Inc.
//
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//
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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#ifndef TF2_BULLET__TF2_BULLET_HPP_
#define TF2_BULLET__TF2_BULLET_HPP_
#include <iostream>
#include "tf2/convert.h"
#include "LinearMath/btQuaternion.h"
#include "LinearMath/btScalar.h"
#include "LinearMath/btTransform.h"
#include "geometry_msgs/msg/point_stamped.hpp"
#include "tf2_ros/buffer_interface.h"
#if (BT_BULLET_VERSION <= 282)
// Suppress compilation warning on older versions of Bullet.
// TODO(mjcarroll): Remove this when all platforms have the fix upstream.
inline int bullet_btInfinityMask()
{
return btInfinityMask;
}
#endif
namespace tf2
{
inline
btTransform transformToBullet(const geometry_msgs::msg::TransformStamped & t)
{
return btTransform(
btQuaternion(
static_cast<float>(t.transform.rotation.x),
static_cast<float>(t.transform.rotation.y),
static_cast<float>(t.transform.rotation.z),
static_cast<float>(t.transform.rotation.w)),
btVector3(
static_cast<float>(t.transform.translation.x),
static_cast<float>(t.transform.translation.y),
static_cast<float>(t.transform.translation.z)));
}
template< >
inline
void doTransform(
const tf2::Stamped<btVector3> & t_in, tf2::Stamped<btVector3> & t_out,
const geometry_msgs::msg::TransformStamped & transform)
{
t_out =
tf2::Stamped<btVector3>(
transformToBullet(transform) * t_in,
tf2_ros::fromMsg(transform.header.stamp), transform.header.frame_id);
}
inline
geometry_msgs::msg::PointStamped toMsg(const tf2::Stamped<btVector3> & in)
{
geometry_msgs::msg::PointStamped msg;
msg.header.stamp = tf2_ros::toMsg(in.stamp_);
msg.header.frame_id = in.frame_id_;
msg.point.x = in[0];
msg.point.y = in[1];
msg.point.z = in[2];
return msg;
}
inline
void fromMsg(const geometry_msgs::msg::PointStamped & msg, tf2::Stamped<btVector3> & out)
{
out.stamp_ = tf2_ros::fromMsg(msg.header.stamp);
out.frame_id_ = msg.header.frame_id;
out[0] = static_cast<float>(msg.point.x);
out[1] = static_cast<float>(msg.point.y);
out[2] = static_cast<float>(msg.point.z);
}
template< >
inline
void doTransform(
const tf2::Stamped<btTransform> & t_in, tf2::Stamped<btTransform> & t_out,
const geometry_msgs::msg::TransformStamped & transform)
{
t_out =
tf2::Stamped<btTransform>(
transformToBullet(transform) * t_in,
tf2_ros::fromMsg(transform.header.stamp), transform.header.frame_id);
}
} // namespace tf2
#endif // TF2_BULLET__TF2_BULLET_HPP_