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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.


2024-06-15 13:48