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Converting DatatypesDescription: This is a quick description of the changes in syntax for converting datatypes.
Tutorial Level: INTERMEDIATE
In tf you would do the following:
Hard coded methods for bullet to message only.
With tf2 there is a templated convert method. This allows a modular design which can convert any datatype which implements the overloaded template methods.
Same result using bullet and message bindings:
Much more extensible to convert bullet to kdl:
These headers are packaged in their own packages and allows packages to only depend on the converters they actually need.