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 namespace tf
41 {
42 
44 void poseTFToKDL(const tf::Pose &t, KDL::Frame &k);
45 
47 void poseKDLToTF(const KDL::Frame &k, tf::Pose &t);
48 
51 
54 
56 void transformTFToKDL(const tf::Transform &t, KDL::Frame &k);
57 
59 void transformKDLToTF(const KDL::Frame &k, tf::Transform &t);
60 
62 void vectorTFToKDL(const tf::Vector3 &t, KDL::Vector &k);
63 
65 void vectorKDLToTF(const KDL::Vector &k, tf::Vector3 &t);
66 
67 /* DEPRECATED FUNCTIONS */
69 geometry_msgs::Pose addDelta(const geometry_msgs::Pose &pose, const geometry_msgs::Twist &twist, const double &t) __attribute__((deprecated));
70 
71 
73 void PoseTFToKDL(const tf::Pose &t, KDL::Frame &k) __attribute__((deprecated));
74 void inline PoseTFToKDL(const tf::Pose &t, KDL::Frame &k) {poseTFToKDL(t, k);};
75 
77 void PoseKDLToTF(const KDL::Frame &k, tf::Pose &t) __attribute__((deprecated));
78 void inline PoseKDLToTF(const KDL::Frame &k, tf::Pose &t) {poseKDLToTF(k, t);};
79 
81 void QuaternionTFToKDL(const tf::Quaternion &t, KDL::Rotation &k) __attribute__((deprecated));
83 
85 void QuaternionKDLToTF(const KDL::Rotation &k, tf::Quaternion &t) __attribute__((deprecated));
87 
89 void TransformTFToKDL(const tf::Transform &t, KDL::Frame &k) __attribute__((deprecated));
90 void inline TransformTFToKDL(const tf::Transform &t, KDL::Frame &k) {transformTFToKDL(t, k);};
91 
93 void TransformKDLToTF(const KDL::Frame &k, tf::Transform &t) __attribute__((deprecated));
94 void inline TransformKDLToTF(const KDL::Frame &k, tf::Transform &t) {transformKDLToTF(k, t);};
95 
97 void VectorTFToKDL(const tf::Vector3 &t, KDL::Vector &k) __attribute__((deprecated));
98 void inline VectorTFToKDL(const tf::Vector3 &t, KDL::Vector &k) {vectorTFToKDL(t, k);};
99 
101 void VectorKDLToTF(const KDL::Vector &k, tf::Vector3 &t) __attribute__((deprecated));
102 void inline VectorKDLToTF(const KDL::Vector &k, tf::Vector3 &t) {vectorKDLToTF(k, t);};
103 
104 
105 } // namespace tf
106 
107 #endif
void TransformTFToKDL(const tf::Transform &t, KDL::Frame &k) __attribute__((deprecated))
Converts a tf Transform into a KDL Frame.
Definition: tf_kdl.h:90
void TransformKDLToTF(const KDL::Frame &k, tf::Transform &t) __attribute__((deprecated))
Converts a KDL Frame into a tf Transform.
Definition: tf_kdl.h:94
void vectorKDLToTF(const KDL::Vector &k, tf::Vector3 &t)
Converts a tf Vector3 into a KDL Vector.
Definition: tf_kdl.cpp:86
geometry_msgs::Pose addDelta(const geometry_msgs::Pose &pose, const geometry_msgs::Twist &twist, const double &t) __attribute__((deprecated))
Starting from a Pose from A to B, apply a Twist with reference frame A and reference point B...
Definition: tf_kdl.cpp:95
void PoseKDLToTF(const KDL::Frame &k, tf::Pose &t) __attribute__((deprecated))
Converts a KDL Frame into a tf Pose.
Definition: tf_kdl.h:78
void transformKDLToTF(const KDL::Frame &k, tf::Transform &t)
Converts a KDL Frame into a tf Transform.
Definition: tf_kdl.cpp:71
void VectorTFToKDL(const tf::Vector3 &t, KDL::Vector &k) __attribute__((deprecated))
Converts a tf Vector3 into a KDL Vector.
Definition: tf_kdl.h:98
void QuaternionTFToKDL(const tf::Quaternion &t, KDL::Rotation &k) __attribute__((deprecated))
Converts a tf Quaternion into a KDL Rotation.
Definition: tf_kdl.h:82
void quaternionKDLToTF(const KDL::Rotation &k, tf::Quaternion &t)
Converts a tf Quaternion into a KDL Rotation.
Definition: tf_kdl.cpp:56
void PoseTFToKDL(const tf::Pose &t, KDL::Frame &k) __attribute__((deprecated))
Converts a tf Pose into a KDL Frame.
Definition: tf_kdl.h:74
void poseTFToKDL(const tf::Pose &t, KDL::Frame &k)
Converts a tf Pose into a KDL Frame.
Definition: tf_kdl.cpp:35
void poseKDLToTF(const KDL::Frame &k, tf::Pose &t)
Converts a KDL Frame into a tf Pose.
Definition: tf_kdl.cpp:43
void transformTFToKDL(const tf::Transform &t, KDL::Frame &k)
Converts a tf Transform into a KDL Frame.
Definition: tf_kdl.cpp:63
void vectorTFToKDL(const tf::Vector3 &t, KDL::Vector &k)
Converts a tf Vector3 into a KDL Vector.
Definition: tf_kdl.cpp:79
void QuaternionKDLToTF(const KDL::Rotation &k, tf::Quaternion &t) __attribute__((deprecated))
Converts a tf Quaternion into a KDL Rotation.
Definition: tf_kdl.h:86
void quaternionTFToKDL(const tf::Quaternion &t, KDL::Rotation &k)
Converts a tf Quaternion into a KDL Rotation.
Definition: tf_kdl.cpp:51
void VectorKDLToTF(const KDL::Vector &k, tf::Vector3 &t) __attribute__((deprecated))
Converts a tf Vector3 into a KDL Vector.
Definition: tf_kdl.h:102
tf::tfVector4 __attribute__


tf_conversions
Author(s): Tully Foote
autogenerated on Fri Jun 7 2019 22:00:41