32 #ifndef CONVERSIONS_KDL_MSG_H 33 #define CONVERSIONS_KDL_MSG_H 35 #include "kdl/frames.hpp" 36 #include <geometry_msgs/Point.h> 37 #include <geometry_msgs/Pose.h> 38 #include <geometry_msgs/Quaternion.h> 39 #include <geometry_msgs/Transform.h> 40 #include <geometry_msgs/Twist.h> 41 #include <geometry_msgs/Vector3.h> 42 #include <geometry_msgs/Wrench.h> void vectorKDLToMsg(const KDL::Vector &k, geometry_msgs::Vector3 &m)
Converts a KDL Vector into a Vector3 message.
void transformKDLToMsg(const KDL::Frame &k, geometry_msgs::Transform &m)
Converts a KDL Frame into a Transform message.
void twistMsgToKDL(const geometry_msgs::Twist &m, KDL::Twist &k)
Converts a Twist message into a KDL Twist.
void TwistMsgToKDL(const geometry_msgs::Twist &m, KDL::Twist &k) __attribute__((deprecated))
Converts a Twist message into a KDL Twist.
void quaternionMsgToKDL(const geometry_msgs::Quaternion &m, KDL::Rotation &k)
Converts a quaternion message into a KDL Rotation.
void transformMsgToKDL(const geometry_msgs::Transform &m, KDL::Frame &k)
Converts a Transform message into a KDL Frame.
void poseMsgToKDL(const geometry_msgs::Pose &m, KDL::Frame &k)
Converts a Pose message into a KDL Frame.
void twistKDLToMsg(const KDL::Twist &k, geometry_msgs::Twist &m)
Converts a KDL Twist into a Twist message.
void PoseKDLToMsg(const KDL::Frame &k, geometry_msgs::Pose &m) __attribute__((deprecated))
Converts a KDL Frame into a Pose message.
void wrenchMsgToKDL(const geometry_msgs::Wrench &m, KDL::Wrench &k)
Converts a Wrench message into a KDL Wrench.
void quaternionKDLToMsg(const KDL::Rotation &k, geometry_msgs::Quaternion &m)
Converts a KDL Rotation into a message quaternion.
void poseKDLToMsg(const KDL::Frame &k, geometry_msgs::Pose &m)
Converts a KDL Frame into a Pose message.
void pointKDLToMsg(const KDL::Vector &k, geometry_msgs::Point &m)
Converts a KDL Vector into a geometry_msgs Vector3.
void pointMsgToKDL(const geometry_msgs::Point &m, KDL::Vector &k)
Conversion functions from/to the corresponding KDL and geometry_msgs types.
void PoseMsgToKDL(const geometry_msgs::Pose &m, KDL::Frame &k) __attribute__((deprecated))
Converts a Pose message into a KDL Frame.
void wrenchKDLToMsg(const KDL::Wrench &k, geometry_msgs::Wrench &m)
Converts a KDL Wrench into a Wrench message.
void TwistKDLToMsg(const KDL::Twist &k, geometry_msgs::Twist &m) __attribute__((deprecated))
Converts a KDL Twist into a Twist message.
void vectorMsgToKDL(const geometry_msgs::Vector3 &m, KDL::Vector &k)
Converts a Vector3 message into a KDL Vector.