tf2_kdl.h File Reference

#include <tf2/convert.h>
#include <kdl/frames.hpp>
#include <geometry_msgs/PointStamped.h>
#include <geometry_msgs/TwistStamped.h>
#include <geometry_msgs/WrenchStamped.h>
#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/Pose.h>

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Namespaces
namespace	tf2
Functions
template<>
void	tf2::doTransform (const tf2::Stamped< KDL::Vector > &t_in, tf2::Stamped< KDL::Vector > &t_out, const geometry_msgs::TransformStamped &transform)
	Apply a geometry_msgs TransformStamped to an KDL-specific Vector type. This function is a specialization of the doTransform template defined in tf2/convert.h.
template<>
void	tf2::doTransform (const tf2::Stamped< KDL::Twist > &t_in, tf2::Stamped< KDL::Twist > &t_out, const geometry_msgs::TransformStamped &transform)
	Apply a geometry_msgs TransformStamped to an KDL-specific Twist type. This function is a specialization of the doTransform template defined in tf2/convert.h.
template<>
void	tf2::doTransform (const tf2::Stamped< KDL::Wrench > &t_in, tf2::Stamped< KDL::Wrench > &t_out, const geometry_msgs::TransformStamped &transform)
	Apply a geometry_msgs TransformStamped to an KDL-specific Wrench type. This function is a specialization of the doTransform template defined in tf2/convert.h.
template<>
void	tf2::doTransform (const tf2::Stamped< KDL::Frame > &t_in, tf2::Stamped< KDL::Frame > &t_out, const geometry_msgs::TransformStamped &transform)
	Apply a geometry_msgs TransformStamped to a KDL-specific Frame data type. This function is a specialization of the doTransform template defined in tf2/convert.h.
void	tf2::fromMsg (const geometry_msgs::PointStamped &msg, tf2::Stamped< KDL::Vector > &out)
	Convert a PointStamped message type to a stamped KDL-specific Vector type. This function is a specialization of the fromMsg template defined in tf2/convert.h.
void	tf2::fromMsg (const geometry_msgs::TwistStamped &msg, tf2::Stamped< KDL::Twist > &out)
	Convert a TwistStamped message type to a stamped KDL-specific Twist type. This function is a specialization of the fromMsg template defined in tf2/convert.h.
void	tf2::fromMsg (const geometry_msgs::WrenchStamped &msg, tf2::Stamped< KDL::Wrench > &out)
	Convert a WrenchStamped message type to a stamped KDL-specific Wrench type. This function is a specialization of the fromMsg template defined in tf2/convert.h.
void	tf2::fromMsg (const geometry_msgs::Pose &msg, KDL::Frame &out)
	Convert a Pose message type to a KDL Frame. This function is a specialization of the fromMsg template defined in tf2/convert.h.
void	tf2::fromMsg (const geometry_msgs::PoseStamped &msg, tf2::Stamped< KDL::Frame > &out)
	Convert a Pose message transform type to a stamped KDL Frame. This function is a specialization of the fromMsg template defined in tf2/convert.h.
geometry_msgs::TransformStamped	tf2::kdlToTransform (const KDL::Frame &k)
	Convert an KDL Frame to the equivalent geometry_msgs message type.
geometry_msgs::PointStamped	tf2::toMsg (const tf2::Stamped< KDL::Vector > &in)
	Convert a stamped KDL Vector type to a PointStamped message. This function is a specialization of the toMsg template defined in tf2/convert.h.
geometry_msgs::TwistStamped	tf2::toMsg (const tf2::Stamped< KDL::Twist > &in)
	Convert a stamped KDL Twist type to a TwistStamped message. This function is a specialization of the toMsg template defined in tf2/convert.h.
geometry_msgs::WrenchStamped	tf2::toMsg (const tf2::Stamped< KDL::Wrench > &in)
	Convert a stamped KDL Wrench type to a WrenchStamped message. This function is a specialization of the toMsg template defined in tf2/convert.h.
geometry_msgs::Pose	tf2::toMsg (const KDL::Frame &in)
	Convert a stamped KDL Frame type to a Pose message. This function is a specialization of the toMsg template defined in tf2/convert.h.
geometry_msgs::PoseStamped	tf2::toMsg (const tf2::Stamped< KDL::Frame > &in)
	Convert a stamped KDL Frame type to a Pose message. This function is a specialization of the toMsg template defined in tf2/convert.h.
KDL::Frame	tf2::transformToKDL (const geometry_msgs::TransformStamped &t)
	Convert a timestamped transform to the equivalent KDL data type.