utils.h
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00001 // Copyright 2014 Open Source Robotics Foundation, Inc.
00002 //
00003 // Licensed under the Apache License, Version 2.0 (the "License");
00004 // you may not use this file except in compliance with the License.
00005 // You may obtain a copy of the License at
00006 //
00007 //     http://www.apache.org/licenses/LICENSE-2.0
00008 //
00009 // Unless required by applicable law or agreed to in writing, software
00010 // distributed under the License is distributed on an "AS IS" BASIS,
00011 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
00012 // See the License for the specific language governing permissions and
00013 // limitations under the License.
00014 
00015 #ifndef TF2_UTILS_H
00016 #define TF2_UTILS_H
00017 
00018 #include <tf2/LinearMath/Transform.h>
00019 #include <tf2/LinearMath/Quaternion.h>
00020 #include <tf2/impl/utils.h>
00021 
00022 namespace tf2 {
00030 template <class A>
00031   void getEulerYPR(const A& a, double& yaw, double& pitch, double& roll)
00032   {
00033     tf2::Quaternion q = impl::toQuaternion(a);
00034     impl::getEulerYPR(q, yaw, pitch, roll);
00035   }
00036 
00044 template <class A>
00045   double getYaw(const A& a)
00046   {
00047     tf2::Quaternion q = impl::toQuaternion(a);
00048     return impl::getYaw(q);
00049   }
00050 
00054 template <class A>
00055   A getTransformIdentity()
00056   {
00057     tf2::Transform t;
00058     t.setIdentity();
00059     A a;
00060     convert(t, a);
00061     return a;
00062   }
00063 
00064 }
00065 
00066 #endif //TF2_UTILS_H


tf2
Author(s): Tully Foote, Eitan Marder-Eppstein, Wim Meeussen
autogenerated on Thu Feb 22 2018 03:45:52