API review

Proposer: Wim Meeussen

Present at review:

  • List reviewers

Question / concerns / comments

Enter your thoughts on the API and any questions / concerns you have here. Please sign your name. Anything you want to address in the API review should be marked down here before the start of the meeting.


  • Remove addDelta. It's not a conversion and doesn't belong here.
  • Sorry to mention this, but we lowercased all the conversion functions inside TF, right? Should we do this here?


  • The API page should summarize the types of data types this package converts between.
  • addDelta is not a conversion, it doesn't use ros::Time Document what all the terms in it mean. eg reference frame, reference point


  • addDelta should probably take a ros::Duration instead of a double. Or, maybe overloaded with a ros::Duration
  • I can't seem to find PoseTFToMsg

  • This is probably a 2.0 thing:
    • All of these functions have different signatures. It might be more convenient to return the result and overload most of the other args:
      geometry_msgs::Pose toMsg(const KDL::Frame &t)
      geometry_msgs::Pose toMsg(const tf::Pose &p)
      Eigen::Transform3d toEigen(const tf::Transform &t)
    • You can then do stuff like

Action items (wim)

  • Deprecate the addDelta method
  • Add a list of supported datatypes in the documentation
  • Will not go through a deprecation cycle to lowercase the functions, because we plan to deprecate the whole package anyway.
  • Conversions between tf datatypes and ros messages are in the tf package. This package is only for datatypes of other libraries (kdl and eigen).
  • The 2.0 roadmap for this package is mentioned in geometry/Roadmap and tf_conversions


Package status change mark change manifest)

  • /!\ Action items that need to be taken.

  • {X} Major issues that need to be resolved

Wiki: tf_conversions/Reviews/2009-09-24_API_Review (last edited 2009-09-25 17:56:58 by wim)