Todo List

Member laser_geometry::LaserProjection::transformLaserScanToPointCloud_ (const std::string &target_frame, const sensor_msgs::LaserScan &scan_in, sensor_msgs::PointCloud2 &cloud_out, tf::Transformer &tf, double range_cutoff, int channel_options)

Make a function that performs both the slerp and linear interpolation needed to interpolate a Full Transform (Quaternion + Vector)