The swri_transform_util package contains utility functions and classes for transforming between coordinate frames.The primary function of the swri_transform_util package is to provide a swri_transform_util::Transform class similar to the tf::Transform class. The swri_transform_util::Transform can perform non-rectalinear transforms, such as accurate UTM calculations and transformation from local rectalinear frames to WGS84 lattitude/longitude and back.
In addition to swri_transform_util::Transform, swri_transform_util provides swri_transform_util::TransformManager, which wraps a tf::TransformListener and provides an interface to look up swri_transform_util::Transforms between TF frames and special frames, such as /wgs84 and /utm.