Program Listing for File tf2_util.h

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#ifndef TRANSFORM_UTIL_TF2_UTIL_H_
#define TRANSFORM_UTIL_TF2_UTIL_H_

#ifdef USE_TF2_H_FILES
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
#else
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
#endif

namespace tf2
{

tf2::Quaternion createQuaternionFromYaw(double yaw);

tf2::Quaternion createQuaternionFromRPY(double roll, double pitch, double yaw);

geometry_msgs::msg::Quaternion createQuaternionMsgFromRollPitchYaw(double roll, double pitch, double yaw);

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

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

}


#endif  // TRANSFORM_UTIL_TF2_UTIL_H_