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/convert.h>
00036 #include <LinearMath/btTransform.h>
00037 #include <geometry_msgs/PointStamped.h>
00038 
00039 
00040 namespace tf2
00041 {
00046 inline
00047 btTransform transformToBullet(const geometry_msgs::TransformStamped& t)
00048   {
00049     return btTransform(btQuaternion(t.transform.rotation.x, t.transform.rotation.y,
00050                                     t.transform.rotation.z, t.transform.rotation.w),
00051                        btVector3(t.transform.translation.x, t.transform.translation.y, t.transform.translation.z));
00052   }
00053 
00054 
00061 template <>
00062 inline
00063   void doTransform(const tf2::Stamped<btVector3>& t_in, tf2::Stamped<btVector3>& t_out, const geometry_msgs::TransformStamped& transform)
00064   {
00065     t_out = tf2::Stamped<btVector3>(transformToBullet(transform) * t_in, transform.header.stamp, transform.header.frame_id);
00066   }
00067 
00073 inline
00074 geometry_msgs::PointStamped toMsg(const tf2::Stamped<btVector3>& in)
00075 {
00076   geometry_msgs::PointStamped msg;
00077   msg.header.stamp = in.stamp_;
00078   msg.header.frame_id = in.frame_id_;
00079   msg.point.x = in[0];
00080   msg.point.y = in[1];
00081   msg.point.z = in[2];
00082   return msg;
00083 }
00084 
00090 inline
00091 void fromMsg(const geometry_msgs::PointStamped& msg, tf2::Stamped<btVector3>& out)
00092 {
00093   out.stamp_ = msg.header.stamp;
00094   out.frame_id_ = msg.header.frame_id;
00095   out[0] = msg.point.x;
00096   out[1] = msg.point.y;
00097   out[2] = msg.point.z;
00098 }
00099 
00100 
00107 template <>
00108 inline
00109   void doTransform(const tf2::Stamped<btTransform>& t_in, tf2::Stamped<btTransform>& t_out, const geometry_msgs::TransformStamped& transform)
00110   {
00111     t_out = tf2::Stamped<btTransform>(transformToBullet(transform) * t_in, transform.header.stamp, transform.header.frame_id);
00112   }
00113 
00114 
00115 } // namespace
00116 
00117 #endif // TF2_BULLET_H


tf2_bullet
Author(s): Wim Meeussen
autogenerated on Thu Jun 6 2019 20:22:57