Namespaces
	filter_failure_reasons

Classes
class	Matrix3x3
	The Matrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with Quaternion, Transform and Vector3. Make sure to only include a pure orthogonal matrix without scaling. More...

struct	Matrix3x3DoubleData
	for serialization More...

struct	Matrix3x3FloatData
	for serialization More...

class	MessageFilter
	Follows the patterns set by the message_filters package to implement a filter which only passes messages through once there is transform data available. More...

class	MessageFilterBase

class	Quaternion
	The Quaternion implements quaternion to perform linear algebra rotations in combination with Matrix3x3, Vector3 and Transform. More...

class	Stamped
	The data type which will be cross compatable with geometry_msgs This is the tf datatype equivilant of a MessageStamped. More...

class	StampedTransform
	The Stamped Transform datatype used by tf. More...

class	tfVector4

class	TimeCache
	A class to keep a sorted linked list in time This builds and maintains a list of timestamped data. And provides lookup functions to get data out as a function of time. More...

class	Transform
	The Transform class supports rigid transforms with only translation and rotation and no scaling/shear. It can be used in combination with Vector3, Quaternion and Matrix3x3 linear algebra classes. More...

class	TransformBroadcaster
	This class provides an easy way to publish coordinate frame transform information. It will handle all the messaging and stuffing of messages. And the function prototypes lay out all the necessary data needed for each message. More...

struct	TransformDoubleData

class	Transformer
	A Class which provides coordinate transforms between any two frames in a system. More...

struct	TransformFloatData
	for serialization More...

class	TransformListener
	This class inherits from Transformer and automatically subscribes to ROS transform messages. More...

struct	TransformLists
	An internal representation of transform chains. More...

class	TransformStorage
	Storage for transforms and their parent. More...

struct	Vector3DoubleData

struct	Vector3FloatData

Typedefs
typedef uint32_t	CompactFrameID

typedef tf2::ConnectivityException	ConnectivityException

typedef tf2::ExtrapolationException	ExtrapolationException

typedef filter_failure_reasons::FilterFailureReason	FilterFailureReason

typedef tf2::InvalidArgumentException	InvalidArgument

typedef tf2::LookupException	LookupException

typedef std::pair< ros::Time, CompactFrameID >	P_TimeAndFrameID

typedef tf::Vector3	Point

typedef tf::Transform	Pose

typedef tf2::TransformException	TransformException

Enumerations
enum	ErrorValues { NO_ERROR = 0, LOOKUP_ERROR, CONNECTIVITY_ERROR, EXTRAPOLATION_ERROR }

enum	ExtrapolationMode { ONE_VALUE, INTERPOLATE, EXTRAPOLATE_BACK, EXTRAPOLATE_FORWARD }

Functions
TFSIMD_FORCE_INLINE tfScalar	angle (const Quaternion &q1, const Quaternion &q2)
	Return the half angle between two quaternions. More...

TFSIMD_FORCE_INLINE tfScalar	angleShortestPath (const Quaternion &q1, const Quaternion &q2)
	Return the shortest angle between two quaternions. More...

void	assertQuaternionValid (const tf::Quaternion &q)
	Throw InvalidArgument if quaternion is malformed. More...

void	assertQuaternionValid (const geometry_msgs::Quaternion &q)
	Throw InvalidArgument if quaternion is malformed. More...

	ATTRIBUTE_ALIGNED16 (class) QuadWord
	The QuadWord class is base class for Vector3 and Quaternion. Some issues under PS3 Linux with IBM 2.1 SDK, gcc compiler prevent from using aligned quadword. More...

static tf::Quaternion	createIdentityQuaternion ()
	construct an Identity Quaternion More...

static tf::Quaternion	createQuaternionFromRPY (double roll, double pitch, double yaw)
	construct a Quaternion from Fixed angles More...

static Quaternion	createQuaternionFromYaw (double yaw)
	construct a Quaternion from yaw only More...

static geometry_msgs::Quaternion	createQuaternionMsgFromRollPitchYaw (double roll, double pitch, double yaw)
	construct a Quaternion Message from Fixed angles More...

static geometry_msgs::Quaternion	createQuaternionMsgFromYaw (double yaw)
	construct a Quaternion Message from yaw only More...

TFSIMD_FORCE_INLINE tfScalar	dot (const Quaternion &q1, const Quaternion &q2)
	Calculate the dot product between two quaternions. More...

std::string	getPrefixParam (ros::NodeHandle &nh)
	Get the tf_prefix from the parameter server. More...

static double	getYaw (const Quaternion &bt_q)
	Helper function for getting yaw from a Quaternion. More...

static double	getYaw (const geometry_msgs::Quaternion &msg_q)
	Helper function for getting yaw from a Quaternion message. More...

TFSIMD_FORCE_INLINE Quaternion	inverse (const Quaternion &q)
	Return the inverse of a quaternion. More...

TFSIMD_FORCE_INLINE tfScalar	length (const Quaternion &q)
	Return the length of a quaternion. More...

TFSIMD_FORCE_INLINE Vector3	lerp (const Vector3 &v1, const Vector3 &v2, const tfScalar &t)
	Return the linear interpolation between two vectors. More...

TFSIMD_FORCE_INLINE Vector3	operator* (const Vector3 &v1, const Vector3 &v2)
	Return the elementwise product of two vectors. More...

TFSIMD_FORCE_INLINE Quaternion	operator* (const Quaternion &q1, const Quaternion &q2)
	Return the product of two quaternions. More...

TFSIMD_FORCE_INLINE Quaternion	operator* (const Quaternion &q, const Vector3 &w)

TFSIMD_FORCE_INLINE Vector3	operator* (const Vector3 &v, const tfScalar &s)
	Return the vector scaled by s. More...

TFSIMD_FORCE_INLINE Quaternion	operator* (const Vector3 &w, const Quaternion &q)

TFSIMD_FORCE_INLINE Vector3	operator* (const tfScalar &s, const Vector3 &v)
	Return the vector scaled by s. More...

TFSIMD_FORCE_INLINE Vector3	operator* (const Matrix3x3 &m, const Vector3 &v)

TFSIMD_FORCE_INLINE Vector3	operator* (const Vector3 &v, const Matrix3x3 &m)

TFSIMD_FORCE_INLINE Matrix3x3	operator* (const Matrix3x3 &m1, const Matrix3x3 &m2)

TFSIMD_FORCE_INLINE Vector3	operator+ (const Vector3 &v1, const Vector3 &v2)
	Return the sum of two vectors (Point symantics) More...

TFSIMD_FORCE_INLINE Quaternion	operator- (const Quaternion &q)
	Return the negative of a quaternion. More...

TFSIMD_FORCE_INLINE Vector3	operator- (const Vector3 &v1, const Vector3 &v2)
	Return the difference between two vectors. More...

TFSIMD_FORCE_INLINE Vector3	operator- (const Vector3 &v)
	Return the negative of the vector. More...

TFSIMD_FORCE_INLINE Vector3	operator/ (const Vector3 &v, const tfScalar &s)
	Return the vector inversely scaled by s. More...

TFSIMD_FORCE_INLINE Vector3	operator/ (const Vector3 &v1, const Vector3 &v2)
	Return the vector inversely scaled by s. More...

template<typename T >
bool	operator== (const Stamped< T > &a, const Stamped< T > &b)
	Comparison Operator for Stamped datatypes. More...

static bool	operator== (const StampedTransform &a, const StampedTransform &b)
	Comparison operator for StampedTransform. More...

TFSIMD_FORCE_INLINE bool	operator== (const Transform &t1, const Transform &t2)
	Test if two transforms have all elements equal. More...

TFSIMD_FORCE_INLINE bool	operator== (const Matrix3x3 &m1, const Matrix3x3 &m2)
	Equality operator between two matrices It will test all elements are equal. More...

static void	pointMsgToTF (const geometry_msgs::Point &msg_v, Point &bt_v)
	convert Point msg to Point More...

static void	pointStampedMsgToTF (const geometry_msgs::PointStamped &msg, Stamped< Point > &bt)
	convert PointStamped msg to Stamped<Point> More...

static void	pointStampedTFToMsg (const Stamped< Point > &bt, geometry_msgs::PointStamped &msg)
	convert Stamped<Point> to PointStamped msg More...

static void	pointTFToMsg (const Point &bt_v, geometry_msgs::Point &msg_v)
	convert Point to Point msg More...

static void	poseMsgToTF (const geometry_msgs::Pose &msg, Pose &bt)
	convert Pose msg to Pose More...

static void	poseStampedMsgToTF (const geometry_msgs::PoseStamped &msg, Stamped< Pose > &bt)
	convert PoseStamped msg to Stamped<Pose> More...

static void	poseStampedTFToMsg (const Stamped< Pose > &bt, geometry_msgs::PoseStamped &msg)
	convert Stamped<Pose> to PoseStamped msg More...

static void	poseTFToMsg (const Pose &bt, geometry_msgs::Pose &msg)
	convert Pose to Pose msg More...

static void	quaternionMsgToTF (const geometry_msgs::Quaternion &msg, Quaternion &bt)
	convert Quaternion msg to Quaternion More...

static void	quaternionStampedMsgToTF (const geometry_msgs::QuaternionStamped &msg, Stamped< Quaternion > &bt)
	convert QuaternionStamped msg to Stamped<Quaternion> More...

static void	quaternionStampedTFToMsg (const Stamped< Quaternion > &bt, geometry_msgs::QuaternionStamped &msg)
	convert Stamped<Quaternion> to QuaternionStamped msg More...

static void	quaternionTFToMsg (const Quaternion &bt, geometry_msgs::Quaternion &msg)
	convert Quaternion to Quaternion msg More...

TFSIMD_FORCE_INLINE Vector3	quatRotate (const Quaternion &rotation, const Vector3 &v)

ROS_DEPRECATED std::string	remap (const std::string &frame_id)
	resolve names More...

static ROS_DEPRECATED std::string	remap (const std::string &prefix, const std::string &frame_name)

std::string	resolve (const std::string &prefix, const std::string &frame_name)
	resolve tf names More...

TFSIMD_FORCE_INLINE Quaternion	shortestArcQuat (const Vector3 &v0, const Vector3 &v1)

TFSIMD_FORCE_INLINE Quaternion	shortestArcQuatNormalize2 (Vector3 &v0, Vector3 &v1)

TFSIMD_FORCE_INLINE Quaternion	slerp (const Quaternion &q1, const Quaternion &q2, const tfScalar &t)
	Return the result of spherical linear interpolation betwen two quaternions. More...

std::string	strip_leading_slash (const std::string &frame_name)

TFSIMD_FORCE_INLINE tfScalar	tfAngle (const Vector3 &v1, const Vector3 &v2)
	Return the angle between two vectors. More...

TFSIMD_FORCE_INLINE Vector3	tfCross (const Vector3 &v1, const Vector3 &v2)
	Return the cross product of two vectors. More...

TFSIMD_FORCE_INLINE tfScalar	tfDistance (const Vector3 &v1, const Vector3 &v2)
	Return the distance between two vectors. More...

TFSIMD_FORCE_INLINE tfScalar	tfDistance2 (const Vector3 &v1, const Vector3 &v2)
	Return the distance squared between two vectors. More...

TFSIMD_FORCE_INLINE tfScalar	tfDot (const Vector3 &v1, const Vector3 &v2)
	Return the dot product between two vectors. More...

TFSIMD_FORCE_INLINE void	tfPlaneSpace1 (const Vector3 &n, Vector3 &p, Vector3 &q)

TFSIMD_FORCE_INLINE void	tfSwapScalarEndian (const tfScalar &sourceVal, tfScalar &destVal)
	tfSwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization More...

TFSIMD_FORCE_INLINE void	tfSwapVector3Endian (const Vector3 &sourceVec, Vector3 &destVec)
	tfSwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization More...

TFSIMD_FORCE_INLINE tfScalar	tfTriple (const Vector3 &v1, const Vector3 &v2, const Vector3 &v3)

TFSIMD_FORCE_INLINE void	tfUnSwapVector3Endian (Vector3 &vector)
	tfUnSwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization More...

static void	transformMsgToTF (const geometry_msgs::Transform &msg, Transform &bt)
	convert Transform msg to Transform More...

static void	transformStampedMsgToTF (const geometry_msgs::TransformStamped &msg, StampedTransform &bt)
	convert TransformStamped msg to tf::StampedTransform More...

static void	transformStampedTFToMsg (const StampedTransform &bt, geometry_msgs::TransformStamped &msg)
	convert tf::StampedTransform to TransformStamped msg More...

static void	transformTFToMsg (const Transform &bt, geometry_msgs::Transform &msg)
	convert Transform to Transform msg More...

static void	vector3MsgToTF (const geometry_msgs::Vector3 &msg_v, Vector3 &bt_v)
	convert Vector3 msg to Vector3 More...

static void	vector3StampedMsgToTF (const geometry_msgs::Vector3Stamped &msg, Stamped< Vector3 > &bt)
	convert Vector3Stamped msg to Stamped<Vector3> More...

static void	vector3StampedTFToMsg (const Stamped< Vector3 > &bt, geometry_msgs::Vector3Stamped &msg)
	convert Stamped<Vector3> to Vector3Stamped msg More...

static void	vector3TFToMsg (const Vector3 &bt_v, geometry_msgs::Vector3 &msg_v)
	convert Vector3 to Vector3 msg More...

Variables
static const double	QUATERNION_TOLERANCE = 0.1f

Detailed Description

Author: Tully Foote

Typedef Documentation

◆ CompactFrameID

typedef uint32_t tf::CompactFrameID

Definition at line 50 of file time_cache.h.

◆ ConnectivityException

typedef tf2::ConnectivityException tf::ConnectivityException

Definition at line 43 of file exceptions.h.

◆ ExtrapolationException

typedef tf2::ExtrapolationException tf::ExtrapolationException

Definition at line 44 of file exceptions.h.

◆ FilterFailureReason

typedef filter_failure_reasons::FilterFailureReason tf::FilterFailureReason

Definition at line 75 of file message_filter.h.

◆ InvalidArgument

typedef tf2::InvalidArgumentException tf::InvalidArgument

Definition at line 45 of file exceptions.h.

◆ LookupException

typedef tf2::LookupException tf::LookupException

Definition at line 42 of file exceptions.h.

◆ P_TimeAndFrameID

typedef std::pair<ros::Time, CompactFrameID> tf::P_TimeAndFrameID

Definition at line 51 of file time_cache.h.

◆ Point

typedef tf::Vector3 tf::Point

Definition at line 49 of file transform_datatypes.h.

◆ Pose

typedef tf::Transform tf::Pose

Definition at line 50 of file transform_datatypes.h.

◆ TransformException

typedef tf2::TransformException tf::TransformException

Definition at line 41 of file exceptions.h.

Enumeration Type Documentation

◆ ErrorValues

enum tf::ErrorValues

Enumerator
NO_ERROR
LOOKUP_ERROR
CONNECTIVITY_ERROR
EXTRAPOLATION_ERROR

Definition at line 80 of file tf.h.

◆ ExtrapolationMode

enum tf::ExtrapolationMode

Enumerator
ONE_VALUE
INTERPOLATE
EXTRAPOLATE_BACK
EXTRAPOLATE_FORWARD

Definition at line 47 of file time_cache.h.

Function Documentation

◆ angle()

TFSIMD_FORCE_INLINE tfScalar tf::angle	(	const Quaternion &	q1,
		const Quaternion &	q2
	)

Return the half angle between two quaternions.

Definition at line 407 of file Quaternion.h.

◆ angleShortestPath()

TFSIMD_FORCE_INLINE tfScalar tf::angleShortestPath	(	const Quaternion &	q1,
		const Quaternion &	q2
	)

Return the shortest angle between two quaternions.

Definition at line 414 of file Quaternion.h.

◆ assertQuaternionValid() [1/2]

void tf::assertQuaternionValid ( const tf::Quaternion & q )

inline

Throw InvalidArgument if quaternion is malformed.

Definition at line 415 of file tf.h.

◆ assertQuaternionValid() [2/2]

void tf::assertQuaternionValid ( const geometry_msgs::Quaternion & q )

inline

Throw InvalidArgument if quaternion is malformed.

Definition at line 433 of file tf.h.

◆ ATTRIBUTE_ALIGNED16()

tf::ATTRIBUTE_ALIGNED16 ( class )

The QuadWord class is base class for Vector3 and Quaternion. Some issues under PS3 Linux with IBM 2.1 SDK, gcc compiler prevent from using aligned quadword.

Return the x value

Return the y value

Return the z value

Set the x value

Set the y value

Set the z value

Set the w value

Return the x value

Return the y value

Return the z value

Return the w value

operator tfScalar*() replaces operator[], using implicit conversion. We added operator != and operator == to avoid pointer comparisons.

Set x,y,z and zero w

Parameters

x	Value of x
y	Value of y
z	Value of z

Set the values

Parameters

x	Value of x
y	Value of y
z	Value of z
w	Value of w

No initialization constructor

Three argument constructor (zeros w)

Parameters

x	Value of x
y	Value of y
z	Value of z

Initializing constructor

Parameters

x	Value of x
y	Value of y
z	Value of z
w	Value of w

Set each element to the max of the current values and the values of another QuadWord

Parameters

other The other QuadWord to compare with

Set each element to the min of the current values and the values of another QuadWord

Parameters

other The other QuadWord to compare with

No initialization constructor

Constructor from scalars

Parameters

x	X value
y	Y value
z	Z value

Add a vector to this one

Parameters

The	vector to add to this one

Sutfract a vector from this one

Parameters

The	vector to sutfract

Scale the vector

Parameters

s	Scale factor

Inversely scale the vector

Parameters

s	Scale factor to divide by

Return the dot product

Parameters

v	The other vector in the dot product

Return the length of the vector squared

Return the length of the vector

Return the distance squared between the ends of this and another vector This is symantically treating the vector like a point

Return the distance between the ends of this and another vector This is symantically treating the vector like a point

Normalize this vector x^2 + y^2 + z^2 = 1

Return a normalized version of this vector

Rotate this vector

Parameters

wAxis	The axis to rotate about
angle	The angle to rotate by

Return the angle between this and another vector

Parameters

v	The other vector

Return a vector will the absolute values of each element

Return the cross product between this and another vector

Parameters

v	The other vector

Return the axis with the smallest value Note return values are 0,1,2 for x, y, or z

Return the axis with the largest value Note return values are 0,1,2 for x, y, or z

Return the linear interpolation between this and another vector

Parameters

v	The other vector
t	The ration of this to v (t = 0 => return this, t=1 => return other)

Elementwise multiply this vector by the other

Parameters

v	The other vector

Return the x value

Return the y value

Return the z value

Set the x value

Set the y value

Set the z value

Set the w value

Return the x value

Return the y value

Return the z value

Return the w value

operator tfScalar*() replaces operator[], using implicit conversion. We added operator != and operator == to avoid pointer comparisons.

Set each element to the max of the current values and the values of another Vector3

Parameters

other The other Vector3 to compare with

Set each element to the min of the current values and the values of another Vector3

Parameters

other The other Vector3 to compare with

No initialization constructor

Constructor from scalars

Parameters

x	X value
y	Y value
z	Z value

Add a vector to this one

Parameters

The	vector to add to this one

Sutfract a vector from this one

Parameters

The	vector to sutfract

Scale the vector

Parameters

s	Scale factor

Inversely scale the vector

Parameters

s	Scale factor to divide by

Return the dot product

Parameters

v	The other vector in the dot product

Return the length of the vector squared

Return the length of the vector

Return the distance squared between the ends of this and another vector This is symantically treating the vector like a point

Return the distance between the ends of this and another vector This is symantically treating the vector like a point

Normalize this vector x^2 + y^2 + z^2 = 1

Return a normalized version of this vector

Rotate this vector

Parameters

wAxis	The axis to rotate about
angle	The angle to rotate by

Return the angle between this and another vector

Parameters

v	The other vector

Return a vector will the absolute values of each element

Return the cross product between this and another vector

Parameters

v	The other vector

Return the axis with the smallest value Note return values are 0,1,2 for x, y, or z

Return the axis with the largest value Note return values are 0,1,2 for x, y, or z

Return the linear interpolation between this and another vector

Parameters

v	The other vector
t	The ration of this to v (t = 0 => return this, t=1 => return other)

Elementwise multiply this vector by the other

Parameters

v	The other vector

Return the x value

Return the y value

Return the z value

Set the x value

Set the y value

Set the z value

Set the w value

Return the x value

Return the y value

Return the z value

Return the w value

operator tfScalar*() replaces operator[], using implicit conversion. We added operator != and operator == to avoid pointer comparisons.

Set each element to the max of the current values and the values of another Vector3

Parameters

other The other Vector3 to compare with

Set each element to the min of the current values and the values of another Vector3

Parameters

other The other Vector3 to compare with

Definition at line 34 of file QuadWord.h.

◆ createIdentityQuaternion()

static tf::Quaternion tf::createIdentityQuaternion ( )

inlinestatic

construct an Identity Quaternion

Returns: The quaternion constructed

Definition at line 193 of file transform_datatypes.h.

◆ createQuaternionFromRPY()

static tf::Quaternion tf::createQuaternionFromRPY	(	double	roll,
		double	pitch,
		double	yaw
	)

inlinestatic

construct a Quaternion from Fixed angles

Parameters

roll	The roll about the X axis
pitch	The pitch about the Y axis
yaw	The yaw about the Z axis

Returns: The quaternion constructed

Definition at line 150 of file transform_datatypes.h.

◆ createQuaternionFromYaw()

static Quaternion tf::createQuaternionFromYaw ( double yaw )

inlinestatic

construct a Quaternion from yaw only

Parameters

yaw	The yaw about the Z axis

Returns: The quaternion constructed

Definition at line 160 of file transform_datatypes.h.

◆ createQuaternionMsgFromRollPitchYaw()

static geometry_msgs::Quaternion tf::createQuaternionMsgFromRollPitchYaw	(	double	roll,
		double	pitch,
		double	yaw
	)

inlinestatic

construct a Quaternion Message from Fixed angles

Parameters

roll	The roll about the X axis
pitch	The pitch about the Y axis
yaw	The yaw about the Z axis

Returns: The quaternion constructed

Definition at line 184 of file transform_datatypes.h.

◆ createQuaternionMsgFromYaw()

static geometry_msgs::Quaternion tf::createQuaternionMsgFromYaw ( double yaw )

inlinestatic

construct a Quaternion Message from yaw only

Parameters

yaw	The yaw about the Z axis

Returns: The quaternion constructed

Definition at line 170 of file transform_datatypes.h.

◆ dot()

TFSIMD_FORCE_INLINE tfScalar tf::dot	(	const Quaternion &	q1,
		const Quaternion &	q2
	)

Calculate the dot product between two quaternions.

Definition at line 392 of file Quaternion.h.

◆ getPrefixParam()

std::string tf::getPrefixParam ( ros::NodeHandle & nh )

inline

Get the tf_prefix from the parameter server.

Parameters

nh	The node handle to use to lookup the parameter.

Returns: The tf_prefix value for this NodeHandle

Definition at line 55 of file transform_listener.h.

◆ getYaw() [1/2]

static double tf::getYaw ( const Quaternion & bt_q )

inlinestatic

Helper function for getting yaw from a Quaternion.

Definition at line 131 of file transform_datatypes.h.

◆ getYaw() [2/2]

static double tf::getYaw ( const geometry_msgs::Quaternion & msg_q )

inlinestatic

Helper function for getting yaw from a Quaternion message.

Definition at line 138 of file transform_datatypes.h.

◆ inverse()

TFSIMD_FORCE_INLINE Quaternion tf::inverse ( const Quaternion & q )

Return the inverse of a quaternion.

Definition at line 421 of file Quaternion.h.

◆ length()

TFSIMD_FORCE_INLINE tfScalar tf::length ( const Quaternion & q )

Return the length of a quaternion.

Definition at line 400 of file Quaternion.h.

◆ lerp()

TFSIMD_FORCE_INLINE Vector3 tf::lerp	(	const Vector3 &	v1,
		const Vector3 &	v2,
		const tfScalar &	t
	)

Return the linear interpolation between two vectors.

Parameters

v1	One vector
v2	The other vector
t	The ration of this to v (t = 0 => return v1, t=1 => return v2)

Definition at line 456 of file Vector3.h.

◆ operator*() [1/9]

TFSIMD_FORCE_INLINE Vector3 tf::operator*	(	const Vector3 &	v1,
		const Vector3 &	v2
	)

Return the elementwise product of two vectors.

Definition at line 361 of file Vector3.h.

◆ operator*() [2/9]

TFSIMD_FORCE_INLINE Quaternion tf::operator*	(	const Quaternion &	q1,
		const Quaternion &	q2
	)

Return the product of two quaternions.

Definition at line 365 of file Quaternion.h.

◆ operator*() [3/9]

TFSIMD_FORCE_INLINE Quaternion tf::operator*	(	const Quaternion &	q,
		const Vector3 &	w
	)

Definition at line 373 of file Quaternion.h.

◆ operator*() [4/9]

TFSIMD_FORCE_INLINE Vector3 tf::operator*	(	const Vector3 &	v,
		const tfScalar &	s
	)

Return the vector scaled by s.

Definition at line 381 of file Vector3.h.

◆ operator*() [5/9]

TFSIMD_FORCE_INLINE Quaternion tf::operator*	(	const Vector3 &	w,
		const Quaternion &	q
	)

Definition at line 382 of file Quaternion.h.

◆ operator*() [6/9]

TFSIMD_FORCE_INLINE Vector3 tf::operator*	(	const tfScalar &	s,
		const Vector3 &	v
	)

Return the vector scaled by s.

Definition at line 388 of file Vector3.h.

◆ operator*() [7/9]

TFSIMD_FORCE_INLINE Vector3 tf::operator*	(	const Matrix3x3 &	m,
		const Vector3 &	v
	)

Definition at line 604 of file Matrix3x3.h.

◆ operator*() [8/9]

TFSIMD_FORCE_INLINE Vector3 tf::operator*	(	const Vector3 &	v,
		const Matrix3x3 &	m
	)

Definition at line 611 of file Matrix3x3.h.

◆ operator*() [9/9]

TFSIMD_FORCE_INLINE Matrix3x3 tf::operator*	(	const Matrix3x3 &	m1,
		const Matrix3x3 &	m2
	)

Definition at line 617 of file Matrix3x3.h.

◆ operator+()

TFSIMD_FORCE_INLINE Vector3 tf::operator+	(	const Vector3 &	v1,
		const Vector3 &	v2
	)

Return the sum of two vectors (Point symantics)

Definition at line 354 of file Vector3.h.

◆ operator-() [1/3]

TFSIMD_FORCE_INLINE Quaternion tf::operator- ( const Quaternion & q )

Return the negative of a quaternion.

Definition at line 356 of file Quaternion.h.

◆ operator-() [2/3]

TFSIMD_FORCE_INLINE Vector3 tf::operator-	(	const Vector3 &	v1,
		const Vector3 &	v2
	)

Return the difference between two vectors.

Definition at line 368 of file Vector3.h.

◆ operator-() [3/3]

TFSIMD_FORCE_INLINE Vector3 tf::operator- ( const Vector3 & v )

Return the negative of the vector.

Definition at line 374 of file Vector3.h.

◆ operator/() [1/2]

TFSIMD_FORCE_INLINE Vector3 tf::operator/	(	const Vector3 &	v,
		const tfScalar &	s
	)

Return the vector inversely scaled by s.

Definition at line 395 of file Vector3.h.

◆ operator/() [2/2]

TFSIMD_FORCE_INLINE Vector3 tf::operator/	(	const Vector3 &	v1,
		const Vector3 &	v2
	)

Return the vector inversely scaled by s.

Definition at line 403 of file Vector3.h.

◆ operator==() [1/4]

template<typename T >

bool tf::operator==	(	const Stamped< T > &	a,
		const Stamped< T > &	b
	)

Comparison Operator for Stamped datatypes.

Definition at line 75 of file transform_datatypes.h.

◆ operator==() [2/4]

static bool tf::operator==	(	const StampedTransform &	a,
		const StampedTransform &	b
	)

inlinestatic

Comparison operator for StampedTransform.

Definition at line 99 of file transform_datatypes.h.

◆ operator==() [3/4]

TFSIMD_FORCE_INLINE bool tf::operator==	(	const Transform &	t1,
		const Transform &	t2
	)

Test if two transforms have all elements equal.

Definition at line 243 of file Transform.h.

◆ operator==() [4/4]

TFSIMD_FORCE_INLINE bool tf::operator==	(	const Matrix3x3 &	m1,
		const Matrix3x3 &	m2
	)

Equality operator between two matrices It will test all elements are equal.

Definition at line 642 of file Matrix3x3.h.

◆ pointMsgToTF()

static void tf::pointMsgToTF	(	const geometry_msgs::Point &	msg_v,
		Point &	bt_v
	)

inlinestatic

convert Point msg to Point

Definition at line 221 of file transform_datatypes.h.

◆ pointStampedMsgToTF()

static void tf::pointStampedMsgToTF	(	const geometry_msgs::PointStamped &	msg,
		Stamped< Point > &	bt
	)

inlinestatic

convert PointStamped msg to Stamped<Point>

Definition at line 226 of file transform_datatypes.h.

◆ pointStampedTFToMsg()

static void tf::pointStampedTFToMsg	(	const Stamped< Point > &	bt,
		geometry_msgs::PointStamped &	msg
	)

inlinestatic

convert Stamped<Point> to PointStamped msg

Definition at line 229 of file transform_datatypes.h.

◆ pointTFToMsg()

static void tf::pointTFToMsg	(	const Point &	bt_v,
		geometry_msgs::Point &	msg_v
	)

inlinestatic

convert Point to Point msg

Definition at line 223 of file transform_datatypes.h.

◆ poseMsgToTF()

static void tf::poseMsgToTF	(	const geometry_msgs::Pose &	msg,
		Pose &	bt
	)

inlinestatic

convert Pose msg to Pose

Definition at line 248 of file transform_datatypes.h.

◆ poseStampedMsgToTF()

static void tf::poseStampedMsgToTF	(	const geometry_msgs::PoseStamped &	msg,
		Stamped< Pose > &	bt
	)

inlinestatic

convert PoseStamped msg to Stamped<Pose>

Definition at line 255 of file transform_datatypes.h.

◆ poseStampedTFToMsg()

static void tf::poseStampedTFToMsg	(	const Stamped< Pose > &	bt,
		geometry_msgs::PoseStamped &	msg
	)

inlinestatic

convert Stamped<Pose> to PoseStamped msg

Definition at line 258 of file transform_datatypes.h.

◆ poseTFToMsg()

static void tf::poseTFToMsg	(	const Pose &	bt,
		geometry_msgs::Pose &	msg
	)

inlinestatic

convert Pose to Pose msg

Definition at line 251 of file transform_datatypes.h.

◆ quaternionMsgToTF()

static void tf::quaternionMsgToTF	(	const geometry_msgs::Quaternion &	msg,
		Quaternion &	bt
	)

inlinestatic

convert Quaternion msg to Quaternion

Definition at line 105 of file transform_datatypes.h.

◆ quaternionStampedMsgToTF()

static void tf::quaternionStampedMsgToTF	(	const geometry_msgs::QuaternionStamped &	msg,
		Stamped< Quaternion > &	bt
	)

inlinestatic

convert QuaternionStamped msg to Stamped<Quaternion>

Definition at line 201 of file transform_datatypes.h.

◆ quaternionStampedTFToMsg()

static void tf::quaternionStampedTFToMsg	(	const Stamped< Quaternion > &	bt,
		geometry_msgs::QuaternionStamped &	msg
	)

inlinestatic

convert Stamped<Quaternion> to QuaternionStamped msg

Definition at line 204 of file transform_datatypes.h.

◆ quaternionTFToMsg()

static void tf::quaternionTFToMsg	(	const Quaternion &	bt,
		geometry_msgs::Quaternion &	msg
	)

inlinestatic

convert Quaternion to Quaternion msg

Definition at line 115 of file transform_datatypes.h.

◆ quatRotate()

TFSIMD_FORCE_INLINE Vector3 tf::quatRotate	(	const Quaternion &	rotation,
		const Vector3 &	v
	)

Definition at line 438 of file Quaternion.h.

◆ remap() [1/2]

std::string tf::remap ( const std::string & frame_id )

resolve names

Deprecated:: Use TransformListener::remap instead

Definition at line 36 of file transform_listener.cpp.

◆ remap() [2/2]

static ROS_DEPRECATED std::string tf::remap	(	const std::string &	prefix,
		const std::string &	frame_name
	)

inlinestatic

Deprecated:: This has been renamed to tf::resolve

Definition at line 78 of file tf.h.

◆ resolve()

std::string tf::resolve	(	const std::string &	prefix,
		const std::string &	frame_name
	)

resolve tf names

Definition at line 158 of file tf.cpp.

◆ shortestArcQuat()

TFSIMD_FORCE_INLINE Quaternion tf::shortestArcQuat	(	const Vector3 &	v0,
		const Vector3 &	v1
	)

Definition at line 446 of file Quaternion.h.

◆ shortestArcQuatNormalize2()

TFSIMD_FORCE_INLINE Quaternion tf::shortestArcQuatNormalize2	(	Vector3 &	v0,
		Vector3 &	v1
	)

Definition at line 465 of file Quaternion.h.

◆ slerp()

TFSIMD_FORCE_INLINE Quaternion tf::slerp	(	const Quaternion &	q1,
		const Quaternion &	q2,
		const tfScalar &	t
	)

Return the result of spherical linear interpolation betwen two quaternions.

Parameters

q1	The first quaternion
q2	The second quaternion
t	The ration between q1 and q2. t = 0 return q1, t=1 returns q2 Slerp assumes constant velocity between positions.

Definition at line 432 of file Quaternion.h.

◆ strip_leading_slash()

std::string tf::strip_leading_slash ( const std::string & frame_name )

strip a leading slash for

Definition at line 194 of file tf.cpp.

◆ tfAngle()

TFSIMD_FORCE_INLINE tfScalar tf::tfAngle	(	const Vector3 &	v1,
		const Vector3 &	v2
	)

Return the angle between two vectors.

Definition at line 433 of file Vector3.h.

◆ tfCross()

TFSIMD_FORCE_INLINE Vector3 tf::tfCross	(	const Vector3 &	v1,
		const Vector3 &	v2
	)

Return the cross product of two vectors.

Definition at line 440 of file Vector3.h.

◆ tfDistance()

TFSIMD_FORCE_INLINE tfScalar tf::tfDistance	(	const Vector3 &	v1,
		const Vector3 &	v2
	)

Return the distance between two vectors.

Definition at line 426 of file Vector3.h.

◆ tfDistance2()

TFSIMD_FORCE_INLINE tfScalar tf::tfDistance2	(	const Vector3 &	v1,
		const Vector3 &	v2
	)

Return the distance squared between two vectors.

Definition at line 418 of file Vector3.h.

◆ tfDot()

TFSIMD_FORCE_INLINE tfScalar tf::tfDot	(	const Vector3 &	v1,
		const Vector3 &	v2
	)

Return the dot product between two vectors.

Definition at line 410 of file Vector3.h.

◆ tfPlaneSpace1()

TFSIMD_FORCE_INLINE void tf::tfPlaneSpace1	(	const Vector3 &	n,
		Vector3 &	p,
		Vector3 &	q
	)

Definition at line 658 of file Vector3.h.

◆ tfSwapScalarEndian()

TFSIMD_FORCE_INLINE void tf::tfSwapScalarEndian	(	const tfScalar &	sourceVal,
		tfScalar &	destVal
	)

tfSwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization

Definition at line 623 of file Vector3.h.

◆ tfSwapVector3Endian()

TFSIMD_FORCE_INLINE void tf::tfSwapVector3Endian	(	const Vector3 &	sourceVec,
		Vector3 &	destVec
	)

tfSwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization

Definition at line 637 of file Vector3.h.

◆ tfTriple()

TFSIMD_FORCE_INLINE tfScalar tf::tfTriple	(	const Vector3 &	v1,
		const Vector3 &	v2,
		const Vector3 &	v3
	)

Definition at line 446 of file Vector3.h.

◆ tfUnSwapVector3Endian()

TFSIMD_FORCE_INLINE void tf::tfUnSwapVector3Endian ( Vector3 & vector )

tfUnSwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization

Definition at line 647 of file Vector3.h.

◆ transformMsgToTF()

static void tf::transformMsgToTF	(	const geometry_msgs::Transform &	msg,
		Transform &	bt
	)

inlinestatic

convert Transform msg to Transform

Definition at line 234 of file transform_datatypes.h.

◆ transformStampedMsgToTF()

static void tf::transformStampedMsgToTF	(	const geometry_msgs::TransformStamped &	msg,
		StampedTransform &	bt
	)

inlinestatic

convert TransformStamped msg to tf::StampedTransform

Definition at line 241 of file transform_datatypes.h.

◆ transformStampedTFToMsg()

static void tf::transformStampedTFToMsg	(	const StampedTransform &	bt,
		geometry_msgs::TransformStamped &	msg
	)

inlinestatic

convert tf::StampedTransform to TransformStamped msg

Definition at line 244 of file transform_datatypes.h.

◆ transformTFToMsg()

static void tf::transformTFToMsg	(	const Transform &	bt,
		geometry_msgs::Transform &	msg
	)

inlinestatic

convert Transform to Transform msg

Definition at line 237 of file transform_datatypes.h.

◆ vector3MsgToTF()

static void tf::vector3MsgToTF	(	const geometry_msgs::Vector3 &	msg_v,
		Vector3 &	bt_v
	)

inlinestatic

convert Vector3 msg to Vector3

Definition at line 208 of file transform_datatypes.h.

◆ vector3StampedMsgToTF()

static void tf::vector3StampedMsgToTF	(	const geometry_msgs::Vector3Stamped &	msg,
		Stamped< Vector3 > &	bt
	)

inlinestatic

convert Vector3Stamped msg to Stamped<Vector3>

Definition at line 213 of file transform_datatypes.h.

◆ vector3StampedTFToMsg()

static void tf::vector3StampedTFToMsg	(	const Stamped< Vector3 > &	bt,
		geometry_msgs::Vector3Stamped &	msg
	)

inlinestatic

convert Stamped<Vector3> to Vector3Stamped msg

Definition at line 216 of file transform_datatypes.h.

◆ vector3TFToMsg()

static void tf::vector3TFToMsg	(	const Vector3 &	bt_v,
		geometry_msgs::Vector3 &	msg_v
	)

inlinestatic

convert Vector3 to Vector3 msg

Definition at line 210 of file transform_datatypes.h.

Variable Documentation

◆ QUATERNION_TOLERANCE

const double tf::QUATERNION_TOLERANCE = 0.1f

static

Definition at line 52 of file transform_datatypes.h.

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Detailed Description

Typedef Documentation

◆ CompactFrameID

◆ ConnectivityException

◆ ExtrapolationException

◆ FilterFailureReason

◆ InvalidArgument

◆ LookupException

◆ P_TimeAndFrameID

◆ Point

◆ Pose

◆ TransformException

Enumeration Type Documentation

◆ ErrorValues

◆ ExtrapolationMode

Function Documentation

◆ angle()

◆ angleShortestPath()

◆ assertQuaternionValid() [1/2]

◆ assertQuaternionValid() [2/2]

◆ ATTRIBUTE_ALIGNED16()

◆ createIdentityQuaternion()

◆ createQuaternionFromRPY()

◆ createQuaternionFromYaw()

◆ createQuaternionMsgFromRollPitchYaw()

◆ createQuaternionMsgFromYaw()

◆ dot()

◆ getPrefixParam()

◆ getYaw() [1/2]

◆ getYaw() [2/2]

◆ inverse()

◆ length()

◆ lerp()

◆ operator*() [1/9]

◆ operator*() [2/9]

◆ operator*() [3/9]

◆ operator*() [4/9]

◆ operator*() [5/9]

◆ operator*() [6/9]

◆ operator*() [7/9]

◆ operator*() [8/9]

◆ operator*() [9/9]

◆ operator+()

◆ operator-() [1/3]

◆ operator-() [2/3]

◆ operator-() [3/3]

◆ operator/() [1/2]

◆ operator/() [2/2]

◆ operator==() [1/4]

◆ operator==() [2/4]

◆ operator==() [3/4]

◆ operator==() [4/4]

◆ pointMsgToTF()

◆ pointStampedMsgToTF()

◆ pointStampedTFToMsg()

◆ pointTFToMsg()

◆ poseMsgToTF()

◆ poseStampedMsgToTF()

◆ poseStampedTFToMsg()

◆ poseTFToMsg()

◆ quaternionMsgToTF()

◆ quaternionStampedMsgToTF()

◆ quaternionStampedTFToMsg()

◆ quaternionTFToMsg()

◆ quatRotate()

◆ remap() [1/2]

◆ remap() [2/2]

◆ resolve()

◆ shortestArcQuat()

◆ shortestArcQuatNormalize2()

◆ slerp()

◆ strip_leading_slash()

◆ tfAngle()

◆ tfCross()