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Documentation

This is a conversion package to convert tf2 data to eigen data structures. These functions are templated.

Supported datatypes

ROS message type

library datatype

Transform function

geometry_msgs/PointStamped

tf2::Stamped<Eigen::Vector3d>

doTransform(const tf2::Stamped<Eigen::Vector3d>& t_in, tf2::Stamped<Eigen::Vector3d>& t_out, const geometry_msgs::TransformStamped& transform)

geometry_msgs/QuaternionStamped

tf2::Stamped<Eigen::Quaterniond>

doTransform(const tf2::Stamped<Eigen::Quaterniond>& t_in, tf2::Stamped<Eigen::Quaterniond>& t_out, const geometry_msgs::QuaternionStamped& transform)

geometry_msgs/TransformStamped

tf2::Stamped<Eigen::Isometry3d>

doTransform(const tf2::Stamped<Eigen::Isometry3d>& t_in, tf2::Stamped<Eigen::Isometry3d>& t_out, const geometry_msgs::TransformStamped& transform)

geometry_msgs/TransformStamped

tf2::Stamped<Eigen::Affine3d>

doTransform(const tf2::Stamped<Eigen::Affine3d>& t_in, tf2::Stamped<Eigen::Affine3d>& t_out, const geometry_msgs::TransformStamped& transform)

geometry_msgs/PoseStamped

tf2::Stamped<Eigen::Affine3d>

doTransform(const tf2::Stamped<Eigen::Affine3d>& t_in, tf2::Stamped<Eigen::Affine3d>& t_out, const geometry_msgs::TransformStamped& transform)

How to use

Please see the Code API documentation for use.


2024-06-15 13:48