tf2_bullet.h
Go to the documentation of this file.
00001 /*
00002  * Copyright (c) 2008, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00032 #ifndef TF2_BULLET_H
00033 #define TF2_BULLET_H
00034 
00035 #include <tf2_ros/buffer.h>
00036 #include <LinearMath/btTransform.h>
00037 #include <geometry_msgs/PointStamped.h>
00038 
00039 
00040 namespace tf2
00041 {
00042     
00043 btTransform transformToBullet(const geometry_msgs::TransformStamped& t)
00044   {
00045     return btTransform(btQuaternion(t.transform.rotation.x, t.transform.rotation.y, 
00046                                     t.transform.rotation.z, t.transform.rotation.w),
00047                        btVector3(t.transform.translation.x, t.transform.translation.y, t.transform.translation.z));
00048   }
00049 
00050 
00051 // this method needs to be implemented by client library developers
00052 template <>
00053   void doTransform(const tf2::Stamped<btVector3>& t_in, tf2::Stamped<btVector3>& t_out, const geometry_msgs::TransformStamped& transform)
00054   {
00055     t_out = tf2::Stamped<btVector3>(transformToBullet(transform) * t_in, transform.header.stamp, transform.header.frame_id);
00056   }
00057 
00058 //convert to vector message
00059 geometry_msgs::PointStamped toMsg(const tf2::Stamped<btVector3>& in)
00060 {
00061   geometry_msgs::PointStamped msg;
00062   msg.header.stamp = in.stamp_;
00063   msg.header.frame_id = in.frame_id_;
00064   msg.point.x = in[0];
00065   msg.point.y = in[1];
00066   msg.point.z = in[2];
00067   return msg;
00068 }
00069 
00070 void fromMsg(const geometry_msgs::PointStamped& msg, tf2::Stamped<btVector3>& out)
00071 {
00072   out.stamp_ = msg.header.stamp;
00073   out.frame_id_ = msg.header.frame_id;
00074   out[0] = msg.point.x;
00075   out[1] = msg.point.y;
00076   out[2] = msg.point.z;
00077 }
00078 
00079 
00080 // this method needs to be implemented by client library developers
00081 template <>
00082   void doTransform(const tf2::Stamped<btTransform>& t_in, tf2::Stamped<btTransform>& t_out, const geometry_msgs::TransformStamped& transform)
00083   {
00084     t_out = tf2::Stamped<btTransform>(transformToBullet(transform) * t_in, transform.header.stamp, transform.header.frame_id);
00085   }
00086 
00087 
00088 } // namespace
00089 
00090 #endif // TF2_BULLET_H
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Friends


tf2_bullet
Author(s): Wim Meeussen
autogenerated on Mon Feb 11 2013 02:14:20