Specialized Template Function tf2::doTransform(const Eigen::VectorXd&, Eigen::VectorXd&, const geometry_msgs::msg::TransformStamped&)

Function Documentation

template<>
inline void tf2::doTransform(const Eigen::VectorXd &t_in, Eigen::VectorXd &t_out, const geometry_msgs::msg::TransformStamped &transform)

Apply a geometry_msgs TransformStamped to a 6-long Eigen vector. Useful for transforming wrenches or twists. Wrench: (force-x, force-y, force-z, torque-x, torque-y, torque-z) Twist: (ang. vel. x, ang. vel. y, ang. vel. z, trans. vel. x, trans. vel. y, trans. vel. z) This function is a specialization of the doTransform template defined in tf2/convert.h, although it can not be used in tf2_ros::BufferInterface::transform because this functions rely on the existence of a time stamp and a frame id in the type which should get transformed.

Parameters:

  • t_in – The vector to transform. Must be 6-long.

  • t_out – The transformed vector. Will be 6-long.

  • transform – The timestamped transform to apply, as a TransformStamped message.