tf2::impl Namespace Reference

Classes
class	Converter

Functions
tf2::Quaternion	toQuaternion (const tf2::Quaternion &q)
tf2::Quaternion	toQuaternion (const geometry_msgs::msg::Quaternion &q)
tf2::Quaternion	toQuaternion (const geometry_msgs::msg::QuaternionStamped &q)
template<typename T >
tf2::Quaternion	toQuaternion (const tf2::Stamped< T > &t)
template<typename T >
tf2::Quaternion	toQuaternion (const T &t)
void	getEulerYPR (const tf2::Quaternion &q, double &yaw, double &pitch, double &roll)
double	getYaw (const tf2::Quaternion &q)

Function Documentation

toQuaternion() [1/5]

tf2::Quaternion tf2::impl::toQuaternion ( const tf2::Quaternion &  q )

inline

Function needed for the generalization of toQuaternion

Parameters

q	a tf2::Quaternion

Returns

a copy of the same quaternion

toQuaternion() [2/5]

tf2::Quaternion tf2::impl::toQuaternion ( const geometry_msgs::msg::Quaternion &  q )

inline

Function needed for the generalization of toQuaternion

Parameters

q	a geometry_msgs::msg::Quaternion

Returns

a copy of the same quaternion as a tf2::Quaternion

toQuaternion() [3/5]

tf2::Quaternion tf2::impl::toQuaternion ( const geometry_msgs::msg::QuaternionStamped &  q )

inline

Function needed for the generalization of toQuaternion

Parameters

q	a geometry_msgs::msg::QuaternionStamped

Returns

a copy of the same quaternion as a tf2::Quaternion

toQuaternion() [4/5]

template<typename T >

tf2::Quaternion tf2::impl::toQuaternion

(

const tf2::Stamped< T > &

t

)

Function needed for the generalization of toQuaternion

Parameters

t	some tf2::Stamped object

Returns

a copy of the same quaternion as a tf2::Quaternion

toQuaternion() [5/5]

template<typename T >

tf2::Quaternion tf2::impl::toQuaternion

(

const T &

t

)

Generic version of toQuaternion. It tries to convert the argument to a geometry_msgs::msg::Quaternion

Parameters

t	some object

Returns

a copy of the same quaternion as a tf2::Quaternion

getEulerYPR()

void tf2::impl::getEulerYPR ( const tf2::Quaternion &  q, double &  yaw, double &  pitch, double &  roll  )

inline

The code below is blantantly copied from urdfdom_headers only the normalization has been added. It computes the Euler roll, pitch yaw from a tf2::Quaternion It is equivalent to tf2::Matrix3x3(q).getEulerYPR(yaw, pitch, roll);

Parameters

q	a tf2::Quaternion
yaw	the computed yaw
pitch	the computed pitch
roll	the computed roll

getYaw()

double tf2::impl::getYaw ( const tf2::Quaternion &  q )

inline

The code below is a simplified version of getEulerRPY that only returns the yaw. It is mostly useful in navigation where only yaw matters

Parameters

q	a tf2::Quaternion

Returns

the computed yaw