Specialized Template Function tf2::doTransform(const tf2::Stamped<KDL::Wrench>&, tf2::Stamped<KDL::Wrench>&, const geometry_msgs::msg::TransformStamped&)

• Defined in File tf2_kdl.hpp

Function Documentation

template<>
inline void tf2::doTransform(const tf2::Stamped<KDL::Wrench> &t_in, tf2::Stamped<KDL::Wrench> &t_out, const geometry_msgs::msg::TransformStamped &transform)

Apply a geometry_msgs TransformStamped to an KDL-specific Wrench type. This function is a specialization of the doTransform template defined in tf2/convert.h.

Parameters:

• t_in – The wrench to transform, as a timestamped KDL Wrench data type.

• t_out – The transformed Wrench, as a timestamped KDL Frame data type.

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