transform.h
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00001 #ifndef __POINTMATCHER_ROS_TRANSFORM_H
00002 #define __POINTMATCHER_ROS_TRANSFORM_H
00003 
00004 #include "pointmatcher/PointMatcher.h"
00005 #include "nav_msgs/Odometry.h"
00006 #include "Eigen/Eigen"
00007 
00008 namespace ros
00009 {
00010         struct Time;
00011 };
00012 namespace tf
00013 {
00014         struct Transform;
00015         struct TransformListener;
00016         struct StampedTransform;
00017 };
00018 
00019 namespace PointMatcher_ros
00020 {
00021         // from tf/ROS
00022         
00023         template<typename T>
00024         typename PointMatcher<T>::TransformationParameters transformListenerToEigenMatrix(const tf::TransformListener &listener, const std::string& target, const std::string& source, const ros::Time& stamp);
00025         
00026         template<typename T>
00027         typename PointMatcher<T>::TransformationParameters odomMsgToEigenMatrix(const nav_msgs::Odometry& odom);
00028         
00029         // to tf/ROS
00030         
00031         template<typename T>
00032         nav_msgs::Odometry eigenMatrixToOdomMsg(const typename PointMatcher<T>::TransformationParameters& inTr, const std::string& frame_id, const ros::Time& stamp);
00033         
00034         template<typename T>
00035         tf::Transform eigenMatrixToTransform(const typename PointMatcher<T>::TransformationParameters& inTr);
00036         
00037         template<typename T>
00038         tf::StampedTransform eigenMatrixToStampedTransform(const typename PointMatcher<T>::TransformationParameters& inTr, const std::string& target, const std::string& source, const ros::Time& stamp);
00039         
00040         // 2D / 3D transform
00041         
00042         template<typename T>
00043         typename PointMatcher<T>::TransformationParameters eigenMatrixToDim(const typename PointMatcher<T>::TransformationParameters& matrix, int dimp1);
00044         
00045 }; // PointMatcher_ros
00046 
00047 #endif //__POINTMATCHER_ROS_TRANSFORM_H


libpointmatcher_ros
Author(s): Stéphane Magnenat
autogenerated on Thu Jan 2 2014 11:16:13