convert.h
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29 
32 #ifndef TF2_CONVERT_H
33 #define TF2_CONVERT_H
34 
35 
37 #include <tf2/exceptions.h>
38 #include <geometry_msgs/TransformStamped.h>
39 #include <tf2/impl/convert.h>
40 
41 namespace tf2 {
42 
52 template <class T>
53  void doTransform(const T& data_in, T& data_out, const geometry_msgs::TransformStamped& transform);
54 
60 template <class T>
61  const ros::Time& getTimestamp(const T& t);
62 
68 template <class T>
69  const std::string& getFrameId(const T& t);
70 
71 
72 
73 /* An implementation for Stamped<P> datatypes */
74 template <class P>
76  {
77  return t.stamp_;
78  }
79 
80 /* An implementation for Stamped<P> datatypes */
81 template <class P>
82  const std::string& getFrameId(const tf2::Stamped<P>& t)
83  {
84  return t.frame_id_;
85  }
86 
93 template<typename A, typename B>
94  B toMsg(const A& a);
95 
102 template<typename A, typename B>
103  void fromMsg(const A&, B& b);
104 
112 template <class A, class B>
113  void convert(const A& a, B& b)
114  {
115  //printf("In double type convert\n");
117  }
118 
119 template <class A>
120  void convert(const A& a1, A& a2)
121  {
122  //printf("In single type convert\n");
123  if(&a1 != &a2)
124  a2 = a1;
125  }
126 
127 
128 }
129 
130 #endif //TF2_CONVERT_H
const std::string & getFrameId(const T &t)
Get the frame_id from data.
void doTransform(const T &data_in, T &data_out, const geometry_msgs::TransformStamped &transform)
The templated function expected to be able to do a transform.
ros::Time stamp_
The timestamp associated with this data.
void fromMsg(const A &, B &b)
B toMsg(const A &a)
std::string frame_id_
The frame_id associated this data.
const ros::Time & getTimestamp(const T &t)
Get the timestamp from data.
The data type which will be cross compatable with geometry_msgs This is the tf2 datatype equivilant o...
void convert(const A &a, B &b)
Definition: convert.h:113


tf2
Author(s): Tully Foote, Eitan Marder-Eppstein, Wim Meeussen
autogenerated on Wed Nov 7 2018 07:49:02