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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 |
tf2::Stamped<Eigen::Vector3d> |
doTransform(const tf2::Stamped<Eigen::Vector3d>& t_in, tf2::Stamped<Eigen::Vector3d>& t_out, const geometry_msgs::TransformStamped& transform) |
|
tf2::Stamped<Eigen::Quaterniond> |
doTransform(const tf2::Stamped<Eigen::Quaterniond>& t_in, tf2::Stamped<Eigen::Quaterniond>& t_out, const geometry_msgs::QuaternionStamped& transform) |
|
tf2::Stamped<Eigen::Isometry3d> |
doTransform(const tf2::Stamped<Eigen::Isometry3d>& t_in, tf2::Stamped<Eigen::Isometry3d>& t_out, const geometry_msgs::TransformStamped& transform) |
|
tf2::Stamped<Eigen::Affine3d> |
doTransform(const tf2::Stamped<Eigen::Affine3d>& t_in, tf2::Stamped<Eigen::Affine3d>& t_out, const geometry_msgs::TransformStamped& transform) |
|
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.