Function moveit_servo::convertIsometryToTransform

• Defined in File common.hpp

Function Documentation

geometry_msgs::msg::TransformStamped moveit_servo::convertIsometryToTransform(const Eigen::Isometry3d &eigen_tf, const std::string &parent_frame, const std::string &child_frame)

Helper function for converting Eigen::Isometry3d to geometry_msgs/TransformStamped.

Parameters:

• eigen_tf – The isometry to be converted to TransformStamped.

• parent_frame – The target frame.

• child_frame – The current frame.

Returns:

The isometry as a TransformStamped message.