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geometry_experimental: tf2 | tf2_bullet | tf2_geometry_msgs | tf2_kdl | tf2_msgs | tf2_ros | tf2_tools

Package Summary

tf2_kdl

geometry_experimental: tf2 | tf2_geometry_msgs | tf2_kdl | tf2_msgs | tf2_ros | tf2_tools

Package Summary

KDL binding for tf2

geometry_experimental: tf2 | tf2_bullet | tf2_geometry_msgs | tf2_kdl | tf2_msgs | tf2_ros | tf2_tools

Package Summary

KDL binding for tf2

geometry2: tf2 | tf2_bullet | tf2_eigen | tf2_geometry_msgs | tf2_kdl | tf2_msgs | tf2_py | tf2_ros | tf2_sensor_msgs | tf2_tools

Package Summary

KDL binding for tf2

  • Maintainer status: maintained
  • Maintainer: Tully Foote <tfoote AT osrfoundation DOT org>
  • Author: Wim Meeussen
  • License: BSD
  • Source: git https://github.com/ros/geometry2.git (branch: indigo-devel)
geometry2: tf2 | tf2_bullet | tf2_eigen | tf2_geometry_msgs | tf2_kdl | tf2_msgs | tf2_py | tf2_ros | tf2_sensor_msgs | tf2_tools

Package Summary

KDL binding for tf2

  • Maintainer status: maintained
  • Maintainer: Tully Foote <tfoote AT osrfoundation DOT org>
  • Author: Wim Meeussen
  • License: BSD
  • Source: git https://github.com/ros/geometry2.git (branch: indigo-devel)
geometry2: tf2 | tf2_bullet | tf2_eigen | tf2_geometry_msgs | tf2_kdl | tf2_msgs | tf2_py | tf2_ros | tf2_sensor_msgs | tf2_tools

Package Summary

KDL binding for tf2

  • Maintainer status: maintained
  • Maintainer: Tully Foote <tfoote AT osrfoundation DOT org>
  • Author: Wim Meeussen
  • License: BSD
  • Source: git https://github.com/ros/geometry2.git (branch: indigo-devel)

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

geometry_msgs::PointStamped

tf2::Stamped<KDL::Vector>

doTransform(const tf2::Stamped<KDL::Vector>& t_in, tf2::Stamped<KDL::Vector>& t_out, const geometry_msgs::TransformStamped& transform)

geometry_msgs::TransformStamped

KDL::Frame

geometry_msgs::PoseStamped

tf2::Stamped<KDL::Frame>

doTransform(const tf2::Stamped<KDL::Frame>& t_in, tf2::Stamped<KDL::Frame>& t_out, const geometry_msgs::TransformStamped& transform)

geometry_msgs::TwistStamped

tf2::Stamped<KDL::Twist>

doTransform(const tf2::Stamped<KDL::Twist>& t_in, tf2::Stamped<KDL::Twist>& t_out, const geometry_msgs::TransformStamped& transform)

geometry_msgs::WrenchStamped

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.

Wiki: tf2_kdl (last edited 2018-04-23 17:36:55 by TullyFoote)