tf_kdl.h
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29 
30 #ifndef CONVERSIONS_TF_KDL_H
31 #define CONVERSIONS_TF_KDL_H
32 
33 #include "kdl_conversions/kdl_msg.h" //backwards compatability for deprecated methods
34 #include "tf/transform_datatypes.h"
35 #include "kdl/frames.hpp"
36 
37 #include <geometry_msgs/Pose.h>
38 #include <geometry_msgs/Twist.h>
39 
40 #include <ros/macros.h>
41 
42 namespace tf
43 {
44 
46 void poseTFToKDL(const tf::Pose &t, KDL::Frame &k);
47 
49 void poseKDLToTF(const KDL::Frame &k, tf::Pose &t);
50 
52 void quaternionTFToKDL(const tf::Quaternion &t, KDL::Rotation &k);
53 
55 void quaternionKDLToTF(const KDL::Rotation &k, tf::Quaternion &t);
56 
58 void transformTFToKDL(const tf::Transform &t, KDL::Frame &k);
59 
61 void transformKDLToTF(const KDL::Frame &k, tf::Transform &t);
62 
64 void vectorTFToKDL(const tf::Vector3 &t, KDL::Vector &k);
65 
67 void vectorKDLToTF(const KDL::Vector &k, tf::Vector3 &t);
68 
69 /* DEPRECATED FUNCTIONS */
71 ROS_DEPRECATED geometry_msgs::Pose addDelta(const geometry_msgs::Pose &pose, const geometry_msgs::Twist &twist, const double &t);
72 
73 
75 ROS_DEPRECATED void PoseTFToKDL(const tf::Pose &t, KDL::Frame &k);
76 void inline PoseTFToKDL(const tf::Pose &t, KDL::Frame &k) {poseTFToKDL(t, k);}
77 
79 ROS_DEPRECATED void PoseKDLToTF(const KDL::Frame &k, tf::Pose &t);
80 void inline PoseKDLToTF(const KDL::Frame &k, tf::Pose &t) {poseKDLToTF(k, t);}
81 
83 ROS_DEPRECATED void QuaternionTFToKDL(const tf::Quaternion &t, KDL::Rotation &k);
84 void inline QuaternionTFToKDL(const tf::Quaternion &t, KDL::Rotation &k) {quaternionTFToKDL(t, k);}
85 
87 ROS_DEPRECATED void QuaternionKDLToTF(const KDL::Rotation &k, tf::Quaternion &t);
88 void inline QuaternionKDLToTF(const KDL::Rotation &k, tf::Quaternion &t) {quaternionKDLToTF(k, t);}
89 
91 ROS_DEPRECATED void TransformTFToKDL(const tf::Transform &t, KDL::Frame &k);
92 void inline TransformTFToKDL(const tf::Transform &t, KDL::Frame &k) {transformTFToKDL(t, k);}
93 
95 ROS_DEPRECATED void TransformKDLToTF(const KDL::Frame &k, tf::Transform &t);
96 void inline TransformKDLToTF(const KDL::Frame &k, tf::Transform &t) {transformKDLToTF(k, t);}
97 
99 ROS_DEPRECATED void VectorTFToKDL(const tf::Vector3 &t, KDL::Vector &k);
100 void inline VectorTFToKDL(const tf::Vector3 &t, KDL::Vector &k) {vectorTFToKDL(t, k);}
101 
103 ROS_DEPRECATED void VectorKDLToTF(const KDL::Vector &k, tf::Vector3 &t);
104 void inline VectorKDLToTF(const KDL::Vector &k, tf::Vector3 &t) {vectorKDLToTF(k, t);}
105 
106 
107 } // namespace tf
108 
109 #endif
tf::QuaternionKDLToTF
ROS_DEPRECATED void QuaternionKDLToTF(const KDL::Rotation &k, tf::Quaternion &t)
Converts a tf Quaternion into a KDL Rotation.
Definition: tf_kdl.h:88
tf::poseTFToKDL
void poseTFToKDL(const tf::Pose &t, KDL::Frame &k)
Converts a tf Pose into a KDL Frame.
Definition: tf_kdl.cpp:35
tf::transformTFToKDL
void transformTFToKDL(const tf::Transform &t, KDL::Frame &k)
Converts a tf Transform into a KDL Frame.
Definition: tf_kdl.cpp:63
tf::vectorKDLToTF
void vectorKDLToTF(const KDL::Vector &k, tf::Vector3 &t)
Converts a tf Vector3 into a KDL Vector.
Definition: tf_kdl.cpp:86
tf::TransformKDLToTF
ROS_DEPRECATED void TransformKDLToTF(const KDL::Frame &k, tf::Transform &t)
Converts a KDL Frame into a tf Transform.
Definition: tf_kdl.h:96
ROS_DEPRECATED
#define ROS_DEPRECATED
tf::transformKDLToTF
void transformKDLToTF(const KDL::Frame &k, tf::Transform &t)
Converts a KDL Frame into a tf Transform.
Definition: tf_kdl.cpp:71
tf::TransformTFToKDL
ROS_DEPRECATED void TransformTFToKDL(const tf::Transform &t, KDL::Frame &k)
Converts a tf Transform into a KDL Frame.
Definition: tf_kdl.h:92
tf::VectorTFToKDL
ROS_DEPRECATED void VectorTFToKDL(const tf::Vector3 &t, KDL::Vector &k)
Converts a tf Vector3 into a KDL Vector.
Definition: tf_kdl.h:100
tf::poseKDLToTF
void poseKDLToTF(const KDL::Frame &k, tf::Pose &t)
Converts a KDL Frame into a tf Pose.
Definition: tf_kdl.cpp:43
tf::addDelta
ROS_DEPRECATED geometry_msgs::Pose addDelta(const geometry_msgs::Pose &pose, const geometry_msgs::Twist &twist, const double &t)
Starting from a Pose from A to B, apply a Twist with reference frame A and reference point B,...
Definition: tf_kdl.cpp:95
kdl_msg.h
tf::Transform
tf::quaternionKDLToTF
void quaternionKDLToTF(const KDL::Rotation &k, tf::Quaternion &t)
Converts a tf Quaternion into a KDL Rotation.
Definition: tf_kdl.cpp:56
transform_datatypes.h
tf::VectorKDLToTF
ROS_DEPRECATED void VectorKDLToTF(const KDL::Vector &k, tf::Vector3 &t)
Converts a tf Vector3 into a KDL Vector.
Definition: tf_kdl.h:104
tf::quaternionTFToKDL
void quaternionTFToKDL(const tf::Quaternion &t, KDL::Rotation &k)
Converts a tf Quaternion into a KDL Rotation.
Definition: tf_kdl.cpp:51
tf
macros.h
tf::vectorTFToKDL
void vectorTFToKDL(const tf::Vector3 &t, KDL::Vector &k)
Converts a tf Vector3 into a KDL Vector.
Definition: tf_kdl.cpp:79
tf::QuaternionTFToKDL
ROS_DEPRECATED void QuaternionTFToKDL(const tf::Quaternion &t, KDL::Rotation &k)
Converts a tf Quaternion into a KDL Rotation.
Definition: tf_kdl.h:84
tf::Quaternion
tf::PoseKDLToTF
ROS_DEPRECATED void PoseKDLToTF(const KDL::Frame &k, tf::Pose &t)
Converts a KDL Frame into a tf Pose.
Definition: tf_kdl.h:80
tf::PoseTFToKDL
ROS_DEPRECATED void PoseTFToKDL(const tf::Pose &t, KDL::Frame &k)
Converts a tf Pose into a KDL Frame.
Definition: tf_kdl.h:76


tf_conversions
Author(s): Tully Foote
autogenerated on Sat Aug 19 2023 02:38:12