## page was renamed from tf/Overview/DataTypes
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== Data Types ==

These data types are defined in file `tf/transform_datatypes.h`. 

=== Base data types (Quaternion, Vector, Point, Pose, Transform) ===

<<Version()>>

{{{#!wiki version cturtle diamondback electric

All of these data types are typedefs of a [[bullet]] data type, so those are listed for reference.

|| '''Type''' || '''tf'''         || '''Bullet'''  ||
|| Quaternion || `tf::Quaternion` || `btQuaternion`||
|| Vector     || `tf::Vector3`    ||`btVector3`    ||
|| Point      || `tf::Point`      ||`btVector3`    ||
|| Pose       || `tf::Pose`       || `btTransform` ||
|| Transform  || `tf::Transform`  || `btTransform` ||
}}}

{{{#!wiki version fuerte_and_newer

As of ROS [[Fuerte]], TF has defined its own datatypes. For more information on how to migrate pre-Fuerte code to newer distributions of ROS, see [[geometry/bullet_migration]].

|| '''Type''' || '''tf'''         ||
|| Quaternion || `tf::Quaternion` ||
|| Vector     || `tf::Vector3`    ||
|| Point      || `tf::Point`      ||
|| Pose       || `tf::Pose`       ||
|| Transform  || `tf::Transform`  ||

}}}



=== tf::Stamped <T> ===

`tf::Stamped<T>` is templated on the above datatypes(except `tf::Transform`) with elements `frame_id_` and `stamp_`
{{{#!cplusplus
template <typename T>
class Stamped : public T{
 public:
  ros::Time stamp_;
  std::string frame_id_;

  Stamped() :frame_id_ ("NO_ID_STAMPED_DEFAULT_CONSTRUCTION"){}; //Default constructor used only for preallocation

  Stamped(const T& input, const ros::Time& timestamp, const std::string & frame_id);
  
  void setData(const T& input);
};
}}}

=== tf::StampedTransform ===

`tf::StampedTransform` is a special case of `tf::Transform`s which require both `frame_id` and `stamp` as well as `child_frame_id`.

{{{#!cplusplus
/** \brief The Stamped Transform datatype used by tf */
class StampedTransform : public tf::Transform
{
public:
  ros::Time stamp_; ///< The timestamp associated with this transform                                                                                                                                                                                                                                                        
  std::string frame_id_; ///< The frame_id of the coordinate frame  in which this transform is defined                                                                                                                                                                                                                       
  std::string child_frame_id_; ///< The frame_id of the coordinate frame this transform defines                                                                                                                                                                                                                              
  StampedTransform(const tf::Transform& input, const ros::Time& timestamp, const std::string & frame_id, const std::string & child_frame_id):
    tf::Transform (input), stamp_ ( timestamp ), frame_id_ (frame_id), child_frame_id_(child_frame_id){ };

  /** \brief Default constructor only to be used for preallocation */
  StampedTransform() { };

  /** \brief Set the inherited Traonsform data */
  void setData(const tf::Transform& input){*static_cast<tf::Transform*>(this) = input;};

};
}}}

== Helper Functions ==

`tf::Quaternion createIdentityQuaternion()`
  Return an identity quaternion.
  
`tf::Quaternion createQuaternionFromRPY(double roll,double pitch,double yaw)`
  Return a `tf::Quaternion` constructed from Fixed-Axis Roll, Pitch and Yaw

`geometry_msgs::Quaternion createQuaternionMsgFromRollPitchYaw(double roll,double pitch,double yaw)`
  Return a `geometry_msgs::Quaternion` constructed from Fixed-Axis Roll, Pitch and Yaw.
    

== Data type conversions ==

See the [[http://www.ros.org/doc/api/tf/html/c++/transform__datatypes_8h.html|conversions code API]].