C++ API
tf2
tf2 is the second generation of the tf library.
This library implements the interface defined by tf2::BufferCore.
There is also a Python wrapper with the same API that class this library using CPython bindings.
Code API
The main interface is through the tf2::BufferCore interface.
It uses the exceptions in exceptions.h and the Stamped datatype in transform_datatypes.h.
Conversion Interface
tf2 offers a templated conversion interface for external libraries to specify conversions between tf2-specific data types and user-defined data types. Various templated functions in tf2_ros use the conversion interface to apply transformations from the tf server to these custom datatypes.
The conversion interface is defined in tf2/convert.h.
Some packages that implement this interface:
tf2_bullet
tf2_eigen
tf2_geometry_msgs
tf2_kdl
tf2_sensor_msgs
Some tutorials are available at https://docs.ros.org/.
Page Hierarchy
Class Hierarchy
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- Namespace tf2
- Struct tf2TypedObject
File Hierarchy
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- Directory include
- File mainpage.dox