transform_graph: README.md Source File

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00001 # transform_graph
00002 
00003 [![Build Status](https://travis-ci.org/jstnhuang/transform_graph.svg?branch=indigo-devel)](https://travis-ci.org/jstnhuang/transform_graph)
00004 [![Coverage Status](https://coveralls.io/repos/github/jstnhuang/transform_graph/badge.svg?branch=indigo-devel)](https://coveralls.io/github/jstnhuang/transform_graph?branch=indigo-devel)
00005 
00006 - [ROS wiki](https://wiki.ros.org/transform_graph)
00007 - [Code API](https://docs.ros.org/indigo/api/transform_graph/html/)
00008 
00009 `transform_graph` is a library that computes transformations betweens arbitrary frames in a graph of transformations.
00010 See the generated documentation for details.
00011 
00012 Basic example:
00013 ```cpp
00014 #include "transform_graph/transform_graph.h"
00015 
00016 transform_graph::Graph graph;
00017 graph.Add("wrist", transform_graph::RefFrame("base_link"), wrist_pose_stamped);
00018 graph.Add("kinect", transform_graph::RefFrame("base_link"), kinect_pose_stamped);
00019 
00020 // Find out if a point in the frame of the Kinect is near the wrist.
00021 pcl::PointXYZ point_in_kinect = ...;
00022 transform_graph::Position point_in_wrist;
00023 graph.DescribePosition(point_in_kinect, transform_graph::Source("kinect"), transform_graph::Target("wrist"), &point_in_wrist);
00024 if (point_in_wrist.vector().norm() < 0.05) {
00025   ...
00026 }
00027 ```