tf2::impl Namespace Reference

Classes
class	Converter
Functions
void	getEulerYPR (const tf2::Quaternion &q, double &yaw, double &pitch, double &roll)
double	getYaw (const tf2::Quaternion &q)
tf2::Quaternion	toQuaternion (const tf2::Quaternion &q)
tf2::Quaternion	toQuaternion (const geometry_msgs::Quaternion &q)
tf2::Quaternion	toQuaternion (const geometry_msgs::QuaternionStamped &q)
template<typename T >
tf2::Quaternion	toQuaternion (const tf2::Stamped< T > &t)
template<typename T >
tf2::Quaternion	toQuaternion (const T &t)

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Function Documentation

void tf2::impl::getEulerYPR	(	const tf2::Quaternion &	q,
		double &	yaw,
		double &	pitch,
		double &	roll
	)		[inline]

The code below is blantantly copied from urdfdom_headers only the normalization has been added. It computes the Euler roll, pitch yaw from a tf2::Quaternion It is equivalent to tf2::Matrix3x3(q).getEulerYPR(yaw, pitch, roll);

Parameters:

q	a tf2::Quaternion
yaw	the computed yaw
pitch	the computed pitch
roll	the computed roll

Definition at line 87 of file impl/utils.h.

double tf2::impl::getYaw

(

const tf2::Quaternion &

q

)

[inline]

The code below is a simplified version of getEulerRPY that only returns the yaw. It is mostly useful in navigation where only yaw matters

Parameters:

q	a tf2::Quaternion

Returns:

the computed yaw

Definition at line 123 of file impl/utils.h.

tf2::Quaternion tf2::impl::toQuaternion

(

const tf2::Quaternion &

q

)

[inline]

Function needed for the generalization of toQuaternion

Parameters:

q	a tf2::Quaternion

Returns:

a copy of the same quaternion

Definition at line 30 of file impl/utils.h.

tf2::Quaternion tf2::impl::toQuaternion

(

const geometry_msgs::Quaternion &

q

)

[inline]

Function needed for the generalization of toQuaternion

Parameters:

q	a geometry_msgs::Quaternion

Returns:

a copy of the same quaternion as a tf2::Quaternion

Definition at line 39 of file impl/utils.h.

tf2::Quaternion tf2::impl::toQuaternion

(

const geometry_msgs::QuaternionStamped &

q

)

[inline]

Function needed for the generalization of toQuaternion

Parameters:

q	a geometry_msgs::QuaternionStamped

Returns:

a copy of the same quaternion as a tf2::Quaternion

Definition at line 50 of file impl/utils.h.

template<typename T >

tf2::Quaternion tf2::impl::toQuaternion

(

const tf2::Stamped< T > &

t

)

Function needed for the generalization of toQuaternion

Parameters:

t	some tf2::Stamped object

Returns:

a copy of the same quaternion as a tf2::Quaternion

Definition at line 61 of file impl/utils.h.

template<typename T >

tf2::Quaternion tf2::impl::toQuaternion

(

const T &

t

)

Generic version of toQuaternion. It tries to convert the argument to a geometry_msgs::Quaternion

Parameters:

t	some object

Returns:

a copy of the same quaternion as a tf2::Quaternion

Definition at line 72 of file impl/utils.h.