tf2_kdl.tf2_kdl module

tf2_kdl.tf2_kdl.convert_vector(vector)

Convert a generic stamped triplet message to a stamped PyKDL Vector.

Parameters:

vector – The message to convert.

Returns:

The timestamped converted PyKDL vector.

Return type:

PyKDL.Vector

tf2_kdl.tf2_kdl.do_transform_frame(frame, transform)

Apply a transform in the form of a geometry_msgs message to a PyKDL Frame.

Parameters:

• frame (PyKDL.Frame) – The PyKDL frame to transform.

• transform (geometry_msgs.msg.TransformStamped) – The transform to apply.

Returns:

The transformed PyKDL frame.

Return type:

PyKDL.Frame

tf2_kdl.tf2_kdl.do_transform_twist(twist, transform)

Apply a transform in the form of a geometry_msgs message to a PyKDL Twist.

Parameters:

• twist (PyKDL.Twist) – The PyKDL twist to transform.

• transform (geometry_msgs.msg.TransformStamped) – The transform to apply.

Returns:

The transformed PyKDL twist.

Return type:

PyKDL.Twist

tf2_kdl.tf2_kdl.do_transform_vector(vector, transform)

Apply a transform in the form of a geometry_msgs message to a PyKDL vector.

Parameters:

• vector (PyKDL.Vector) – The PyKDL vector to transform.

• transform (geometry_msgs.msg.TransformStamped) – The transform to apply.

Returns:

The transformed vector.

Return type:

PyKDL.Vector

tf2_kdl.tf2_kdl.do_transform_wrench(wrench, transform)

Apply a transform in the form of a geometry_msgs message to a PyKDL Wrench.

Parameters:

• wrench (PyKDL.Wrench) – The PyKDL wrench to transform.

• transform (geometry_msgs.msg.TransformStamped) – The transform to apply.

Returns:

The transformed PyKDL wrench.

Return type:

PyKDL.Wrench

tf2_kdl.tf2_kdl.from_msg_vector(msg)

Convert a PointStamped message to a stamped PyKDL Vector.

Parameters:

msg (geometry_msgs.msg.PointStamped) – The PointStamped message to convert.

Returns:

The timestamped converted PyKDL vector.

Return type:

PyKDL.Vector

tf2_kdl.tf2_kdl.to_msg_vector(vector)

Convert a PyKDL Vector to a geometry_msgs PointStamped message.

Parameters:

vector (PyKDL.Vector) – The vector to convert.

Returns:

The converted vector/point.

Return type:

geometry_msgs.msg.PointStamped

tf2_kdl.tf2_kdl.transform_to_kdl(t)

Convert a geometry_msgs Transform message to a PyKDL Frame.

Parameters:

t (geometry_msgs.msg.TransformStamped) – The Transform message to convert.

Returns:

The converted PyKDL frame.

Return type:

PyKDL.Frame