Contents
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 |
tf2::Stamped<KDL::Vector> |
doTransform(const tf2::Stamped<KDL::Vector>& t_in, tf2::Stamped<KDL::Vector>& t_out, const geometry_msgs::TransformStamped& transform) |
|
KDL::Frame |
|
|
tf2::Stamped<KDL::Frame> |
doTransform(const tf2::Stamped<KDL::Frame>& t_in, tf2::Stamped<KDL::Frame>& t_out, const geometry_msgs::TransformStamped& transform) |
|
tf2::Stamped<KDL::Twist> |
doTransform(const tf2::Stamped<KDL::Twist>& t_in, tf2::Stamped<KDL::Twist>& t_out, const geometry_msgs::TransformStamped& transform) |
|
tf2::Stamped<KDL::Wrench> |
doTransform(const tf2::Stamped<KDL::Wrench>& t_in, tf2::Stamped<KDL::Wrench>& t_out, const geometry_msgs::TransformStamped& transform) |
How to use
Please see the Code API documentation for use.