## repository: unknown
<<PackageHeader(tf2_kdl)>> <<TOC(4)>>

== Documentation ==
This is a conversion package to convert tf2 data to KDL data structures. These functions are templated.

=== Supported datatypes ===
||ROS message type ||Library datatype ||Transform function ||
||[[http://docs.ros.org/jade/api/geometry_msgs/html/msg/PointStamped.html|geometry_msgs::PointStamped]] ||tf2::Stamped<KDL::Vector> ||doTransform(const tf2::Stamped<KDL::Vector>& t_in, tf2::Stamped<KDL::Vector>& t_out, const [[http://docs.ros.org/jade/api/geometry_msgs/html/msg/TransformStamped.html|geometry_msgs::TransformStamped]]& transform) ||
||[[http://docs.ros.org/jade/api/geometry_msgs/html/msg/TransformStamped.html|geometry_msgs::TransformStamped]] ||KDL::Frame || ||
||[[http://docs.ros.org/jade/api/geometry_msgs/html/msg/PoseStamped.html|geometry_msgs::PoseStamped]] ||tf2::Stamped<KDL::Frame> ||doTransform(const tf2::Stamped<KDL::Frame>& t_in, tf2::Stamped<KDL::Frame>& t_out, const [[http://docs.ros.org/jade/api/geometry_msgs/html/msg/TransformStamped.html|geometry_msgs::TransformStamped]]& transform) ||
||[[http://docs.ros.org/jade/api/geometry_msgs/html/msg/TwistStamped.html|geometry_msgs::TwistStamped]] ||tf2::Stamped<KDL::Twist> ||doTransform(const tf2::Stamped<KDL::Twist>& t_in, tf2::Stamped<KDL::Twist>& t_out, const [[http://docs.ros.org/jade/api/geometry_msgs/html/msg/TransformStamped.html|geometry_msgs::TransformStamped]]& transform) ||
||[[http://docs.ros.org/jade/api/geometry_msgs/html/msg/WrenchStamped.html|geometry_msgs::WrenchStamped]] ||tf2::Stamped<KDL::Wrench> ||doTransform(const tf2::Stamped<KDL::Wrench>& t_in, tf2::Stamped<KDL::Wrench>& t_out, const [[http://docs.ros.org/jade/api/geometry_msgs/html/msg/TransformStamped.html|geometry_msgs::TransformStamped]]& transform) ||


=== How to use ===
Please see the [[http://docs.ros.org/jade/api/tf2_kdl/html | Code API documentation]] for use.

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