pose_utilities.h
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1 #pragma once
2 
4 #include <tf2_geometry_msgs/tf2_geometry_msgs.h> // Needed for conversion from geometry_msgs to tf2::Transform
5 #include <geometry_msgs/Pose.h>
6 #include <geometry_msgs/PoseStamped.h>
7 #include <geometry_msgs/TransformStamped.h>
8 #include <string>
9 #include <tf2_ros/buffer.h>
11 
12 #include "nxLib.h"
13 
21 bool isValid(tf2::Transform const& pose);
22 bool isValid(geometry_msgs::Transform const& pose);
23 bool isValid(tf2::Vector3 const& vector);
24 
29 void writePoseToNxLib(tf2::Transform const& pose, NxLibItem const& node);
30 
34 tf2::Transform poseFromNxLib(NxLibItem const& node);
35 
39 geometry_msgs::TransformStamped poseFromNxLib(NxLibItem const& node, std::string const& parentFrame,
40  std::string const& childFrame);
41 
46 geometry_msgs::TransformStamped transformFromPose(geometry_msgs::PoseStamped const& pose,
47  std::string const& childFrame);
48 
52 geometry_msgs::PoseStamped stampedPoseFromTransform(geometry_msgs::TransformStamped const& transform);
53 geometry_msgs::Pose poseFromTransform(tf2::Transform const& transform);
54 geometry_msgs::TransformStamped fromTfTransform(tf2::Transform const& transform, std::string parentFrame,
55  std::string childFrame);
56 
60 tf2::Transform fromMsg(geometry_msgs::Transform const& transform);
61 tf2::Transform fromMsg(geometry_msgs::Pose const& pose);
62 tf2::Transform fromStampedMessage(geometry_msgs::TransformStamped const& transform);
63 tf2::Transform fromStampedMessage(geometry_msgs::PoseStamped const& pose);
64 
65 tf2::Transform getLatestTransform(tf2_ros::Buffer const& tfBuffer, std::string const& cameraFrame,
66  std::string const& targetFrame);
tf2::Transform getLatestTransform(tf2_ros::Buffer const &tfBuffer, std::string const &cameraFrame, std::string const &targetFrame)
tf2::Transform fromMsg(geometry_msgs::Transform const &transform)
void writePoseToNxLib(tf2::Transform const &pose, NxLibItem const &node)
geometry_msgs::Pose poseFromTransform(tf2::Transform const &transform)
bool isValid(tf2::Transform const &pose)
geometry_msgs::TransformStamped transformFromPose(geometry_msgs::PoseStamped const &pose, std::string const &childFrame)
geometry_msgs::TransformStamped fromTfTransform(tf2::Transform const &transform, std::string parentFrame, std::string childFrame)
geometry_msgs::PoseStamped stampedPoseFromTransform(geometry_msgs::TransformStamped const &transform)
tf2::Transform poseFromNxLib(NxLibItem const &node)
tf2::Transform fromStampedMessage(geometry_msgs::TransformStamped const &transform)


ensenso_camera
Author(s): Ensenso
autogenerated on Sat Nov 9 2019 03:53:27