tf_help.h

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#ifndef NAV_2D_UTILS_TF_HELP_H
#define NAV_2D_UTILS_TF_HELP_H
 
#include <nav_core2/common.h>
#include <geometry_msgs/PoseStamped.h>
#include <nav_2d_msgs/Pose2DStamped.h>
#include <string>
 
namespace nav_2d_utils
{
bool transformPose(const TFListenerPtr tf, const std::string frame,
                   const geometry_msgs::PoseStamped& in_pose, geometry_msgs::PoseStamped& out_pose,
                   const bool extrapolation_fallback = true);
 
bool transformPose(const TFListenerPtr tf, const std::string frame,
                   const nav_2d_msgs::Pose2DStamped& in_pose, nav_2d_msgs::Pose2DStamped& out_pose,
                   const bool extrapolation_fallback = true);
 
geometry_msgs::Pose2D transformStampedPose(const TFListenerPtr tf, const nav_2d_msgs::Pose2DStamped& pose,
                                           const std::string& frame_id);
 
}  // namespace nav_2d_utils
 
#endif  // NAV_2D_UTILS_TF_HELP_H