transform_datatypes.h
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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 TF_TRANSFORM_DATATYPES_H
00033 #define TF_TRANSFORM_DATATYPES_H
00034 
00035 #include <string>
00036 #include "geometry_msgs/PointStamped.h"
00037 #include "geometry_msgs/Vector3Stamped.h"
00038 #include "geometry_msgs/QuaternionStamped.h"
00039 #include "geometry_msgs/TransformStamped.h"
00040 #include "geometry_msgs/PoseStamped.h"
00041 #include "tf/LinearMath/Transform.h"
00042 #include "ros/time.h"
00043 
00044 #include "ros/console.h"
00045 
00046 namespace tf
00047 {
00048 
00049 typedef tf::Vector3 Point;
00050 typedef tf::Transform Pose;
00051 
00052 static const double QUATERNION_TOLERANCE = 0.1f;
00053 
00056 template <typename T>
00057 class Stamped : public T{
00058  public:
00059   ros::Time stamp_; 
00060   std::string frame_id_; 
00061 
00063   Stamped() :frame_id_ ("NO_ID_STAMPED_DEFAULT_CONSTRUCTION"){}; //Default constructor used only for preallocation
00064 
00066   Stamped(const T& input, const ros::Time& timestamp, const std::string & frame_id) :
00067     T (input), stamp_ ( timestamp ), frame_id_ (frame_id){ } ;
00068   
00070   void setData(const T& input){*static_cast<T*>(this) = input;};
00071 };
00072 
00074 template <typename T> 
00075 bool operator==(const Stamped<T> &a, const Stamped<T> &b) {
00076   return a.frame_id_ == b.frame_id_ && a.stamp_ == b.stamp_ && static_cast<const T&>(a) == static_cast<const T&>(b);
00077 };
00078 
00079 
00081 class StampedTransform : public tf::Transform
00082 {
00083 public:
00084   ros::Time stamp_; 
00085   std::string frame_id_; 
00086   std::string child_frame_id_; 
00087   StampedTransform(const tf::Transform& input, const ros::Time& timestamp, const std::string & frame_id, const std::string & child_frame_id):
00088     tf::Transform (input), stamp_ ( timestamp ), frame_id_ (frame_id), child_frame_id_(child_frame_id){ };
00089 
00091   StampedTransform() { };
00092 
00094   void setData(const tf::Transform& input){*static_cast<tf::Transform*>(this) = input;};
00095 
00096 };
00097 
00099 static inline bool operator==(const StampedTransform &a, const StampedTransform &b) {
00100   return a.frame_id_ == b.frame_id_ && a.child_frame_id_ == b.child_frame_id_ && a.stamp_ == b.stamp_ && static_cast<const tf::Transform&>(a) == static_cast<const tf::Transform&>(b);
00101 };
00102 
00103 
00105 static inline void quaternionMsgToTF(const geometry_msgs::Quaternion& msg, Quaternion& bt) 
00106 {
00107   bt = Quaternion(msg.x, msg.y, msg.z, msg.w); 
00108   if (fabs(bt.length2() - 1 ) > QUATERNION_TOLERANCE) 
00109     {
00110       ROS_WARN("MSG to TF: Quaternion Not Properly Normalized");
00111       bt.normalize();
00112     }
00113 };
00115 static inline void quaternionTFToMsg(const Quaternion& bt, geometry_msgs::Quaternion& msg) 
00116 {
00117   if (fabs(bt.length2() - 1 ) > QUATERNION_TOLERANCE) 
00118     {
00119       ROS_WARN("TF to MSG: Quaternion Not Properly Normalized");
00120       Quaternion bt_temp = bt; 
00121       bt_temp.normalize();
00122       msg.x = bt_temp.x(); msg.y = bt_temp.y(); msg.z = bt_temp.z();  msg.w = bt_temp.w();
00123     }
00124   else
00125   {
00126     msg.x = bt.x(); msg.y = bt.y(); msg.z = bt.z();  msg.w = bt.w();
00127   }
00128 };
00129 
00131 static inline double getYaw(const Quaternion& bt_q){
00132   tfScalar useless_pitch, useless_roll, yaw;
00133   tf::Matrix3x3(bt_q).getRPY( useless_roll, useless_pitch,yaw);
00134   return yaw;
00135 }
00136 
00138 static inline double getYaw(const geometry_msgs::Quaternion& msg_q){
00139   Quaternion bt_q;
00140   quaternionMsgToTF(msg_q, bt_q);
00141   return getYaw(bt_q);
00142 }
00143 
00150 static inline tf::Quaternion createQuaternionFromRPY(double roll,double pitch,double yaw){
00151   Quaternion q;
00152   q.setRPY(roll, pitch, yaw);
00153   return q;
00154 }
00155 
00160 static inline Quaternion createQuaternionFromYaw(double yaw){
00161   Quaternion q;
00162   q.setRPY(0.0, 0.0, yaw);
00163   return q;
00164 }
00165 
00170 static inline geometry_msgs::Quaternion createQuaternionMsgFromYaw(double yaw){
00171   Quaternion q;
00172   q.setRPY(0.0, 0.0, yaw);
00173   geometry_msgs::Quaternion q_msg;
00174   quaternionTFToMsg(q, q_msg);
00175   return q_msg;
00176 }
00177 
00184 static inline geometry_msgs::Quaternion createQuaternionMsgFromRollPitchYaw(double roll,double pitch,double yaw){
00185   geometry_msgs::Quaternion q_msg;
00186   quaternionTFToMsg(createQuaternionFromRPY(roll, pitch, yaw), q_msg);
00187   return q_msg;
00188 }
00189 
00193 static inline tf::Quaternion createIdentityQuaternion()
00194 {
00195   Quaternion q;
00196   q.setRPY(0,0,0);
00197   return q;
00198 };
00199 
00201 static inline void quaternionStampedMsgToTF(const geometry_msgs::QuaternionStamped & msg, Stamped<Quaternion>& bt)
00202 {quaternionMsgToTF(msg.quaternion, bt); bt.stamp_ = msg.header.stamp; bt.frame_id_ = msg.header.frame_id;};
00204 static inline void quaternionStampedTFToMsg(const Stamped<Quaternion>& bt, geometry_msgs::QuaternionStamped & msg)
00205 {quaternionTFToMsg(bt, msg.quaternion); msg.header.stamp = bt.stamp_; msg.header.frame_id = bt.frame_id_;};
00206 
00208 static inline void vector3MsgToTF(const geometry_msgs::Vector3& msg_v, Vector3& bt_v) {bt_v = Vector3(msg_v.x, msg_v.y, msg_v.z);};
00210 static inline void vector3TFToMsg(const Vector3& bt_v, geometry_msgs::Vector3& msg_v) {msg_v.x = bt_v.x(); msg_v.y = bt_v.y(); msg_v.z = bt_v.z();};
00211 
00213 static inline void vector3StampedMsgToTF(const geometry_msgs::Vector3Stamped & msg, Stamped<Vector3>& bt)
00214 {vector3MsgToTF(msg.vector, bt); bt.stamp_ = msg.header.stamp; bt.frame_id_ = msg.header.frame_id;};
00216 static inline void vector3StampedTFToMsg(const Stamped<Vector3>& bt, geometry_msgs::Vector3Stamped & msg)
00217 {vector3TFToMsg(bt, msg.vector); msg.header.stamp = bt.stamp_; msg.header.frame_id = bt.frame_id_;};
00218 
00219 
00221 static inline void pointMsgToTF(const geometry_msgs::Point& msg_v, Point& bt_v) {bt_v = Vector3(msg_v.x, msg_v.y, msg_v.z);};
00223 static inline void pointTFToMsg(const Point& bt_v, geometry_msgs::Point& msg_v) {msg_v.x = bt_v.x(); msg_v.y = bt_v.y(); msg_v.z = bt_v.z();};
00224 
00226 static inline void pointStampedMsgToTF(const geometry_msgs::PointStamped & msg, Stamped<Point>& bt)
00227 {pointMsgToTF(msg.point, bt); bt.stamp_ = msg.header.stamp; bt.frame_id_ = msg.header.frame_id;};
00229 static inline void pointStampedTFToMsg(const Stamped<Point>& bt, geometry_msgs::PointStamped & msg)
00230 {pointTFToMsg(bt, msg.point); msg.header.stamp = bt.stamp_; msg.header.frame_id = bt.frame_id_;};
00231 
00232 
00234 static inline void transformMsgToTF(const geometry_msgs::Transform& msg, Transform& bt)
00235 {bt = Transform(Quaternion(msg.rotation.x, msg.rotation.y, msg.rotation.z, msg.rotation.w), Vector3(msg.translation.x, msg.translation.y, msg.translation.z));};
00237 static inline void transformTFToMsg(const Transform& bt, geometry_msgs::Transform& msg)
00238 {vector3TFToMsg(bt.getOrigin(), msg.translation);  quaternionTFToMsg(bt.getRotation(), msg.rotation);};
00239 
00241 static inline void transformStampedMsgToTF(const geometry_msgs::TransformStamped & msg, StampedTransform& bt)
00242 {transformMsgToTF(msg.transform, bt); bt.stamp_ = msg.header.stamp; bt.frame_id_ = msg.header.frame_id; bt.child_frame_id_ = msg.child_frame_id;};
00244 static inline void transformStampedTFToMsg(const StampedTransform& bt, geometry_msgs::TransformStamped & msg)
00245 {transformTFToMsg(bt, msg.transform); msg.header.stamp = bt.stamp_; msg.header.frame_id = bt.frame_id_; msg.child_frame_id = bt.child_frame_id_;};
00246 
00248 static inline void poseMsgToTF(const geometry_msgs::Pose& msg, Pose& bt)
00249 {bt = Transform(Quaternion(msg.orientation.x, msg.orientation.y, msg.orientation.z, msg.orientation.w), Vector3(msg.position.x, msg.position.y, msg.position.z));};
00251 static inline void poseTFToMsg(const Pose& bt, geometry_msgs::Pose& msg)
00252 {pointTFToMsg(bt.getOrigin(), msg.position);  quaternionTFToMsg(bt.getRotation(), msg.orientation);};
00253 
00255 static inline void poseStampedMsgToTF(const geometry_msgs::PoseStamped & msg, Stamped<Pose>& bt)
00256 {poseMsgToTF(msg.pose, bt); bt.stamp_ = msg.header.stamp; bt.frame_id_ = msg.header.frame_id;};
00258 static inline void poseStampedTFToMsg(const Stamped<Pose>& bt, geometry_msgs::PoseStamped & msg)
00259 {poseTFToMsg(bt, msg.pose); msg.header.stamp = bt.stamp_; msg.header.frame_id = bt.frame_id_;};
00260 
00261 
00262 
00263 
00264 
00265 
00266 }
00267 #endif //TF_TRANSFORM_DATATYPES_H


tf
Author(s): Tully Foote, Eitan Marder-Eppstein, Wim Meeussen
autogenerated on Mon Jul 9 2018 02:37:28