C++ API

tf2_eigen

tf2_eigen contains functions for converting between geometry_msgs and Eigen data types.

This library is an implementation of the templated conversion interface specified in tf/convert.h. It enables easy conversion from geometry_msgs Transform and Point types to the types specified by the Eigen matrix algebra library (see http://eigen.tuxfamily.org).

Code API

This library consists of one header only, tf2_eigen/tf2_eigen.hpp, which consists mostly of specializations of template functions defined in tf2/convert.h.

Class Hierarchy

• • Namespace tf2
    • Enum TF2Error
    • Enum TransformableResult

File Hierarchy

• • Directory include
    • Directory tf2_eigen
      • File tf2_eigen.hpp
  • File mainpage.dox

Full C++ API

Namespaces

• Namespace Eigen

• Namespace tf2

Enums

• Enum TF2Error

• Enum TransformableResult

Functions

• Function Eigen::fromMsg(const geometry_msgs::msg::Point&, Eigen::Vector3d&)

• Function Eigen::fromMsg(const geometry_msgs::msg::Pose&, Eigen::Affine3d&)

• Function Eigen::fromMsg(const geometry_msgs::msg::Pose&, Eigen::Isometry3d&)

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

• Function Eigen::toMsg(const Eigen::Affine3d&)

• Function Eigen::toMsg(const Eigen::Isometry3d&)

• Function Eigen::toMsg(const Eigen::Vector3d&)

• Function Eigen::toMsg(const Eigen::Quaterniond&)

• Function Eigen::toMsg(const Eigen::Matrix<double, 6, 1>&)

• Function tf2::absolute

• Function tf2::angle(const Quaternion&, const Quaternion&)

• Function tf2::angle(const Vector3&)

• Function tf2::angleShortestPath

• Function tf2::closestAxis

• Function tf2::convert(const A&, B&)

• Function tf2::convert(const A&, A&)

• Function tf2::covarianceNestedToRowMajor

• Function tf2::covarianceRowMajorToNested

• Function tf2::cross

• Function tf2::deSerialize

• Function tf2::deSerializeDouble

• Function tf2::deSerializeFloat

• Function tf2::displayTimePoint

• Function tf2::distance

• Function tf2::distance2

• Function tf2::dot(const Quaternion&, const Quaternion&)

• Function tf2::dot(const Vector3&)

• Function tf2::doTransform(const T&, T&, const geometry_msgs::msg::TransformStamped&)

• Function tf2::doTransform(const geometry_msgs::msg::Vector3&, geometry_msgs::msg::Vector3&, const geometry_msgs::msg::TransformStamped&)

• Function tf2::doTransform(const geometry_msgs::msg::Vector3Stamped&, geometry_msgs::msg::Vector3Stamped&, const geometry_msgs::msg::TransformStamped&)

• Function tf2::doTransform(const geometry_msgs::msg::Point&, geometry_msgs::msg::Point&, const geometry_msgs::msg::TransformStamped&)

• Function tf2::doTransform(const geometry_msgs::msg::Point32&, geometry_msgs::msg::Point32&, const geometry_msgs::msg::TransformStamped&)

• Function tf2::doTransform(const geometry_msgs::msg::PointStamped&, geometry_msgs::msg::PointStamped&, const geometry_msgs::msg::TransformStamped&)

• Function tf2::doTransform(const geometry_msgs::msg::PoseStamped&, geometry_msgs::msg::PoseStamped&, const geometry_msgs::msg::TransformStamped&)

• Function tf2::doTransform(const geometry_msgs::msg::Polygon&, geometry_msgs::msg::Polygon&, const geometry_msgs::msg::TransformStamped&)

• Function tf2::doTransform(const geometry_msgs::msg::PolygonStamped&, geometry_msgs::msg::PolygonStamped&, const geometry_msgs::msg::TransformStamped&)

• Function tf2::doTransform(const geometry_msgs::msg::PoseWithCovariance&, geometry_msgs::msg::PoseWithCovariance&, const geometry_msgs::msg::TransformStamped&)

• Function tf2::doTransform(const geometry_msgs::msg::PoseWithCovarianceStamped&, geometry_msgs::msg::PoseWithCovarianceStamped&, const geometry_msgs::msg::TransformStamped&)

• Function tf2::doTransform(const geometry_msgs::msg::Quaternion&, geometry_msgs::msg::Quaternion&, const geometry_msgs::msg::TransformStamped&)

• Function tf2::doTransform(const geometry_msgs::msg::QuaternionStamped&, geometry_msgs::msg::QuaternionStamped&, const geometry_msgs::msg::TransformStamped&)

• Function tf2::doTransform(const geometry_msgs::msg::Transform&, geometry_msgs::msg::Transform&, const geometry_msgs::msg::TransformStamped&)

• Function tf2::doTransform(const geometry_msgs::msg::TransformStamped&, geometry_msgs::msg::TransformStamped&, const geometry_msgs::msg::TransformStamped&)

• Function tf2::doTransform(const geometry_msgs::msg::Pose&, geometry_msgs::msg::Pose&, const geometry_msgs::msg::TransformStamped&)

• Function tf2::doTransform(const geometry_msgs::msg::VelocityStamped&, geometry_msgs::msg::VelocityStamped&, const geometry_msgs::msg::TransformStamped&)

• Function tf2::doTransform(const geometry_msgs::msg::Wrench&, geometry_msgs::msg::Wrench&, const geometry_msgs::msg::TransformStamped&)

• Function tf2::doTransform(const geometry_msgs::msg::WrenchStamped&, geometry_msgs::msg::WrenchStamped&, const geometry_msgs::msg::TransformStamped&)

• Function tf2::doTransform(const tf2::Stamped<KDL::Vector>&, tf2::Stamped<KDL::Vector>&, const geometry_msgs::msg::TransformStamped&)

• Function tf2::doTransform(const tf2::Stamped<KDL::Twist>&, tf2::Stamped<KDL::Twist>&, const geometry_msgs::msg::TransformStamped&)

• Function tf2::doTransform(const tf2::Stamped<KDL::Wrench>&, tf2::Stamped<KDL::Wrench>&, const geometry_msgs::msg::TransformStamped&)

• Function tf2::doTransform(const tf2::Stamped<KDL::Frame>&, tf2::Stamped<KDL::Frame>&, const geometry_msgs::msg::TransformStamped&)

• Specialized Template Function tf2::doTransform(const Eigen::Vector3d&, Eigen::Vector3d&, const geometry_msgs::msg::TransformStamped&)

• Specialized Template Function tf2::doTransform(const Eigen::VectorXd&, Eigen::VectorXd&, const geometry_msgs::msg::TransformStamped&)

• Specialized Template Function tf2::doTransform(const tf2::Stamped<Eigen::Vector3d>&, tf2::Stamped<Eigen::Vector3d>&, const geometry_msgs::msg::TransformStamped&)

• Specialized Template Function tf2::doTransform(const Eigen::Affine3d&, Eigen::Affine3d&, const geometry_msgs::msg::TransformStamped&)

• Specialized Template Function tf2::doTransform(const Eigen::Isometry3d&, Eigen::Isometry3d&, const geometry_msgs::msg::TransformStamped&)

• Specialized Template Function tf2::doTransform(const Eigen::Quaterniond&, Eigen::Quaterniond&, const geometry_msgs::msg::TransformStamped&)

• Specialized Template Function tf2::doTransform(const tf2::Stamped<Eigen::Quaterniond>&, tf2::Stamped<Eigen::Quaterniond>&, const geometry_msgs::msg::TransformStamped&)

• Specialized Template Function tf2::doTransform(const tf2::Stamped<Eigen::Affine3d>&, tf2::Stamped<Eigen::Affine3d>&, const geometry_msgs::msg::TransformStamped&)

• Specialized Template Function tf2::doTransform(const tf2::Stamped<Eigen::Isometry3d>&, tf2::Stamped<Eigen::Isometry3d>&, const geometry_msgs::msg::TransformStamped&)

• Function tf2::durationFromSec

• Function tf2::durationToSec

• Function tf2::eigenToTransform(const Eigen::Affine3d&)

• Function tf2::eigenToTransform(const Eigen::Isometry3d&)

• Function tf2::fromMsg(const A&, B&)

• Function tf2::fromMsg(const geometry_msgs::msg::Quaternion&, tf2::Quaternion&)

• Function tf2::fromMsg(const geometry_msgs::msg::Vector3&, tf2::Vector3&)

• Function tf2::fromMsg(const geometry_msgs::msg::Vector3Stamped&, geometry_msgs::msg::Vector3Stamped&)

• Function tf2::fromMsg(const geometry_msgs::msg::Point&, tf2::Vector3&)

• Function tf2::fromMsg(const geometry_msgs::msg::Point32&, tf2::Vector3&)

• Function tf2::fromMsg(const geometry_msgs::msg::PointStamped&, geometry_msgs::msg::PointStamped&)

• Function tf2::fromMsg(const geometry_msgs::msg::PoseStamped&, geometry_msgs::msg::PoseStamped&)

• Function tf2::fromMsg(const geometry_msgs::msg::Polygon&, geometry_msgs::msg::Polygon&)

• Function tf2::fromMsg(const geometry_msgs::msg::PolygonStamped&, geometry_msgs::msg::PolygonStamped&)

• Function tf2::fromMsg(const geometry_msgs::msg::Transform&, tf2::Transform&)

• Function tf2::fromMsg(const geometry_msgs::msg::PoseWithCovariance&, geometry_msgs::msg::PoseWithCovariance&)

• Function tf2::fromMsg(const geometry_msgs::msg::PoseWithCovarianceStamped&, geometry_msgs::msg::PoseWithCovarianceStamped&)

• Function tf2::fromMsg(const geometry_msgs::msg::PoseWithCovarianceStamped&, tf2::WithCovarianceStamped<tf2::Transform>&)

• Function tf2::fromMsg(const geometry_msgs::msg::QuaternionStamped&, geometry_msgs::msg::QuaternionStamped&)

• Function tf2::fromMsg(const geometry_msgs::msg::QuaternionStamped&, tf2::Stamped<tf2::Quaternion>&)

• Function tf2::fromMsg(const geometry_msgs::msg::TransformStamped&, geometry_msgs::msg::TransformStamped&)

• Function tf2::fromMsg(const geometry_msgs::msg::TransformStamped&, tf2::Stamped<tf2::Transform>&)

• Function tf2::fromMsg(const geometry_msgs::msg::Pose&, geometry_msgs::msg::Pose&)

• Function tf2::fromMsg(const geometry_msgs::msg::Pose&, tf2::Transform&)

• Function tf2::fromMsg(const geometry_msgs::msg::WrenchStamped&, geometry_msgs::msg::WrenchStamped&)

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

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

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

• Function tf2::fromMsg(const geometry_msgs::msg::Pose&, KDL::Frame&)

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

• Function tf2::fromMsg(const geometry_msgs::msg::Point&, Eigen::Vector3d&)

• Function tf2::fromMsg(const geometry_msgs::msg::Vector3&, Eigen::Vector3d&)

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

• Function tf2::fromMsg(const geometry_msgs::msg::Quaternion&, Eigen::Quaterniond&)

• Function tf2::fromMsg(const geometry_msgs::msg::QuaternionStamped&, Stamped<Eigen::Quaterniond>&)

• Function tf2::fromMsg(const geometry_msgs::msg::Pose&, Eigen::Affine3d&)

• Function tf2::fromMsg(const geometry_msgs::msg::Pose&, Eigen::Isometry3d&)

• Function tf2::fromMsg(const geometry_msgs::msg::Twist&, Eigen::Matrix<double, 6, 1>&)

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

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

• Function tf2::furthestAxis

• Function tf2::fuzzyZero

• Function tf2::get_now

• Function tf2::getCovarianceMatrix(const T&)

• Function tf2::getCovarianceMatrix(const tf2::WithCovarianceStamped<P>&)

• Function tf2::getCovarianceMatrix(const geometry_msgs::msg::PoseWithCovariance&)

• Function tf2::getCovarianceMatrix(const geometry_msgs::msg::PoseWithCovarianceStamped&)

• Function tf2::getEulerYPR

• Function tf2::getFrameId(const T&)

• Function tf2::getFrameId(const tf2::Stamped<P>&)

• Function tf2::getFrameId(const geometry_msgs::msg::Vector3Stamped&)

• Function tf2::getFrameId(const geometry_msgs::msg::PointStamped&)

• Function tf2::getFrameId(const geometry_msgs::msg::PoseStamped&)

• Function tf2::getFrameId(const geometry_msgs::msg::PolygonStamped&)

• Function tf2::getFrameId(const geometry_msgs::msg::PoseWithCovarianceStamped&)

• Function tf2::getFrameId(const geometry_msgs::msg::QuaternionStamped&)

• Function tf2::getFrameId(const geometry_msgs::msg::TransformStamped&)

• Function tf2::getFrameId(const geometry_msgs::msg::WrenchStamped&)

• Function tf2::getSkewSymmetricMatrix

• Function tf2::getTimestamp(const T&)

• Function tf2::getTimestamp(const tf2::Stamped<P>&)

• Function tf2::getTimestamp(const geometry_msgs::msg::Vector3Stamped&)

• Function tf2::getTimestamp(const geometry_msgs::msg::PointStamped&)

• Function tf2::getTimestamp(const geometry_msgs::msg::PoseStamped&)

• Function tf2::getTimestamp(const geometry_msgs::msg::PolygonStamped&)

• Function tf2::getTimestamp(const geometry_msgs::msg::PoseWithCovarianceStamped&)

• Function tf2::getTimestamp(const geometry_msgs::msg::QuaternionStamped&)

• Function tf2::getTimestamp(const geometry_msgs::msg::TransformStamped&)

• Function tf2::getTimestamp(const geometry_msgs::msg::WrenchStamped&)

• Function tf2::getTransformIdentity

• Function tf2::getX

• Function tf2::getY

• Function tf2::getYaw

• Function tf2::getZ

• Function tf2::gmTransformToKDL

• Function tf2::inverse

• Function tf2::isZero

• Function tf2::kdlToTransform

• Function tf2::length(const Quaternion&)

• Function tf2::length()

• Function tf2::length2

• Function tf2::lerp(const Vector3&, const tf2Scalar&)

• Function tf2::lerp(const Vector3&, const Vector3&, const tf2Scalar&)

• Function tf2::maxAxis

• Function tf2::minAxis

• Function tf2::normalize

• Function tf2::normalized

• Function tf2::operator const tf2Scalar *

• Function tf2::operator tf2Scalar *

• Function tf2::operator!=(const QuadWord&)

• Function tf2::operator!=(const Vector3&)

• Function tf2::operator*(const Matrix3x3&, const Vector3&)

• Function tf2::operator*(const Vector3&, const Matrix3x3&)

• Function tf2::operator*(const Matrix3x3&, const Matrix3x3&)

• Function tf2::operator*(const Quaternion&, const Quaternion&)

• Function tf2::operator*(const Quaternion&, const Vector3&)

• Function tf2::operator*(const Vector3&, const Quaternion&)

• Function tf2::operator*(const Vector3&, const Vector3&)

• Function tf2::operator*(const Vector3&, const tf2Scalar&)

• Function tf2::operator*(const tf2Scalar&, const Vector3&)

• Function tf2::operator*=(const tf2Scalar&)

• Function tf2::operator*=(const Vector3&)

• Function tf2::operator+

• Function tf2::operator+=

• Function tf2::operator-(const Quaternion&)

• Function tf2::operator-(const Vector3&, const Vector3&)

• Function tf2::operator-(const Vector3&)

• Function tf2::operator-=

• Function tf2::operator/(const Vector3&, const tf2Scalar&)

• Function tf2::operator/(const Vector3&, const Vector3&)

• Function tf2::operator/=

• Function tf2::operator==(const Matrix3x3&, const Matrix3x3&)

• Function tf2::operator==(const QuadWord&)

• Function tf2::operator==(const Transform&, const Transform&)

• Function tf2::operator==(const Vector3&)

• Function tf2::operator==(const Stamped<T>&, const Stamped<T>&)

• Function tf2::operator==(const WithCovarianceStamped<T>&, const WithCovarianceStamped<T>&)

• Function tf2::QuadWord(const tf2Scalar&, const tf2Scalar&, const tf2Scalar&)

• Function tf2::QuadWord(const tf2Scalar&, const tf2Scalar&, const tf2Scalar&, const tf2Scalar&)

• Function tf2::quatRotate

• Function tf2::rotate

• Function tf2::serialize

• Function tf2::serializeDouble

• Function tf2::serializeFloat

• Function tf2::setInterpolate3

• Function tf2::setMax(const QuadWord&)

• Function tf2::setMax(const Vector3&)

• Function tf2::setMin(const QuadWord&)

• Function tf2::setMin(const Vector3&)

• Function tf2::setValue(const tf2Scalar&, const tf2Scalar&, const tf2Scalar&)

• Function tf2::setValue(const tf2Scalar&, const tf2Scalar&, const tf2Scalar&, const tf2Scalar&)

• Function tf2::setW

• Function tf2::setX

• Function tf2::setY

• Function tf2::setZ

• Function tf2::setZero

• Function tf2::shortestArcQuat

• Function tf2::shortestArcQuatNormalize2

• Function tf2::slerp

• Function tf2::tf2Angle

• Function tf2::tf2Cross

• Function tf2::tf2Distance

• Function tf2::tf2Distance2

• Function tf2::tf2Dot

• Function tf2::tf2PlaneSpace1

• Function tf2::tf2SwapScalarEndian

• Function tf2::tf2SwapVector3Endian

• Function tf2::tf2Triple

• Function tf2::tf2UnSwapVector3Endian

• Function tf2::timeFromSec

• Function tf2::timeToSec

• Function tf2::toMsg(const A&)

• Function tf2::toMsg(const tf2::Vector3&)

• Function tf2::toMsg(const geometry_msgs::msg::Vector3Stamped&)

• Function tf2::toMsg(const tf2::Vector3&, geometry_msgs::msg::Point&)

• Function tf2::toMsg(const tf2::Vector3&, geometry_msgs::msg::Point32&)

• Function tf2::toMsg(const geometry_msgs::msg::PointStamped&)

• Function tf2::toMsg(const geometry_msgs::msg::PoseStamped&)

• Function tf2::toMsg(const geometry_msgs::msg::Polygon&)

• Function tf2::toMsg(const geometry_msgs::msg::PolygonStamped&)

• Function tf2::toMsg(const geometry_msgs::msg::PoseWithCovariance&)

• Function tf2::toMsg(const geometry_msgs::msg::PoseWithCovarianceStamped&)

• Function tf2::toMsg(const tf2::WithCovarianceStamped<tf2::Transform>&)

• Function tf2::toMsg(const tf2::Quaternion&)

• Function tf2::toMsg(const geometry_msgs::msg::QuaternionStamped&)

• Function tf2::toMsg(const tf2::Stamped<tf2::Quaternion>&)

• Function tf2::toMsg(const tf2::Transform&)

• Function tf2::toMsg(const tf2::Transform&, geometry_msgs::msg::Transform&)

• Function tf2::toMsg(const geometry_msgs::msg::TransformStamped&)

• Function tf2::toMsg(const tf2::Stamped<tf2::Transform>&)

• Function tf2::toMsg(const geometry_msgs::msg::Pose&)

• Function tf2::toMsg(const tf2::Transform&, geometry_msgs::msg::Pose&)

• Function tf2::toMsg(const geometry_msgs::msg::WrenchStamped&)

• Function tf2::toMsg(const tf2::Stamped<KDL::Vector>&)

• Function tf2::toMsg(const tf2::Stamped<KDL::Twist>&)

• Function tf2::toMsg(const tf2::Stamped<KDL::Wrench>&)

• Function tf2::toMsg(const KDL::Frame&)

• Function tf2::toMsg(const tf2::Stamped<KDL::Frame>&)

• Function tf2::toMsg(const Eigen::Vector3d&)

• Function tf2::toMsg(const Eigen::Vector3d&, geometry_msgs::msg::Vector3&)

• Function tf2::toMsg(const tf2::Stamped<Eigen::Vector3d>&)

• Function tf2::toMsg(const Eigen::Quaterniond&)

• Function tf2::toMsg(const Stamped<Eigen::Quaterniond>&)

• Function tf2::toMsg(const Eigen::Affine3d&)

• Function tf2::toMsg(const Eigen::Isometry3d&)

• Function tf2::toMsg(const Eigen::Matrix<double, 6, 1>&)

• Function tf2::toMsg(const tf2::Stamped<Eigen::Affine3d>&)

• Function tf2::toMsg(const tf2::Stamped<Eigen::Isometry3d>&)

• Function tf2::toMsg2

• Function tf2::transformCovariance

• Function tf2::transformToEigen(const geometry_msgs::msg::Transform&)

• Function tf2::transformToEigen(const geometry_msgs::msg::TransformStamped&)

• Function tf2::transformToKDL

• Function tf2::triple

• Function tf2::Vector3

• Function tf2::w

• Function tf2::x

• Function tf2::y

• Function tf2::z

Variables

• Variable tf2::QuadWord

• Variable tf2::TIMECACHE_DEFAULT_MAX_STORAGE_TIME

• Variable tf2::TransformAvailable

• Variable tf2::TransformFailure

• Variable tf2::Vector3

Typedefs

• Typedef tf2::CompactFrameID

• Typedef tf2::Duration

• Typedef tf2::IDuration

• Typedef tf2::P_TimeAndFrameID

• Typedef tf2::TimeCacheInterfacePtr

• Typedef tf2::TimePoint

• Typedef tf2::TransformableRequestHandle

Directories

• Directory include

• Directory tf2_eigen

Files

• File mainpage.dox

• File tf2_eigen.hpp