Namespaces
	impl

Classes
class	BufferCore

class	BufferCoreInterface

class	ConnectivityException

class	ExtrapolationException

class	InvalidArgumentException

class	LookupException

class	Matrix3x3

struct	Matrix3x3DoubleData

struct	Matrix3x3FloatData

class	Quaternion

class	Stamped

class	StaticCache

class	tf2Vector4

class	TimeCache

class	TimeCacheInterface

class	TimeoutException

class	Transform

struct	TransformDoubleData

class	TransformException

struct	TransformFloatData

class	TransformStorage

struct	Vector3DoubleData

struct	Vector3FloatData

Typedefs
typedef std::pair< TimePoint, CompactFrameID >	P_TimeAndFrameID

typedef uint32_t	TransformableCallbackHandle

typedef uint64_t	TransformableRequestHandle

typedef std::shared_ptr< TimeCacheInterface >	TimeCacheInterfacePtr

typedef std::chrono::nanoseconds	Duration

typedef std::chrono::time_point< std::chrono::system_clock, Duration >	TimePoint

typedef std::chrono::duration< int, std::nano >	IDuration

typedef uint32_t	CompactFrameID

Enumerations
enum	TransformableResult

enum	TF2Error { TF2Error::NO_ERROR, TF2Error::LOOKUP_ERROR, TF2Error::CONNECTIVITY_ERROR, TF2Error::EXTRAPOLATION_ERROR, TF2Error::INVALID_ARGUMENT_ERROR, TF2Error::TIMEOUT_ERROR, TF2Error::TRANSFORM_ERROR }

Functions
void	doTransform (const T &data_in, T &data_out, const geometry_msgs::msg::TransformStamped &transform)

tf2::TimePoint	getTimestamp (const T &t)

std::string	getFrameId (const T &t)

tf2::TimePoint	getTimestamp (const tf2::Stamped< P > &t)

std::string	getFrameId (const tf2::Stamped< P > &t)

B	toMsg (const A &a)

void	fromMsg (const A &, B &b)

void	convert (const A &a, B &b)

void	convert (const A &a1, A &a2)

TF2SIMD_FORCE_INLINE Vector3	operator* (const Matrix3x3 &m, const Vector3 &v)

TF2SIMD_FORCE_INLINE Vector3	operator* (const Vector3 &v, const Matrix3x3 &m)

TF2SIMD_FORCE_INLINE Matrix3x3	operator* (const Matrix3x3 &m1, const Matrix3x3 &m2)

TF2SIMD_FORCE_INLINE bool	operator== (const Matrix3x3 &m1, const Matrix3x3 &m2)

	ATTRIBUTE_ALIGNED16 (class) QuadWord

TF2SIMD_FORCE_INLINE Quaternion	operator- (const Quaternion &q)

TF2SIMD_FORCE_INLINE Quaternion	operator* (const Quaternion &q1, const Quaternion &q2)

TF2SIMD_FORCE_INLINE Quaternion	operator* (const Quaternion &q, const Vector3 &w)

TF2SIMD_FORCE_INLINE Quaternion	operator* (const Vector3 &w, const Quaternion &q)

TF2SIMD_FORCE_INLINE tf2Scalar	dot (const Quaternion &q1, const Quaternion &q2)

TF2SIMD_FORCE_INLINE tf2Scalar	length (const Quaternion &q)

TF2SIMD_FORCE_INLINE tf2Scalar	angle (const Quaternion &q1, const Quaternion &q2)

TF2SIMD_FORCE_INLINE tf2Scalar	angleShortestPath (const Quaternion &q1, const Quaternion &q2)

TF2SIMD_FORCE_INLINE Quaternion	inverse (const Quaternion &q)

TF2SIMD_FORCE_INLINE Quaternion	slerp (const Quaternion &q1, const Quaternion &q2, const tf2Scalar &t)

TF2SIMD_FORCE_INLINE Vector3	quatRotate (const Quaternion &rotation, const Vector3 &v)

TF2SIMD_FORCE_INLINE Quaternion	shortestArcQuat (const Vector3 &v0, const Vector3 &v1)

TF2SIMD_FORCE_INLINE Quaternion	shortestArcQuatNormalize2 (Vector3 &v0, Vector3 &v1)

TF2SIMD_FORCE_INLINE bool	operator== (const Transform &t1, const Transform &t2)

TF2SIMD_FORCE_INLINE Vector3	operator+ (const Vector3 &v1, const Vector3 &v2)

TF2SIMD_FORCE_INLINE Vector3	operator* (const Vector3 &v1, const Vector3 &v2)

TF2SIMD_FORCE_INLINE Vector3	operator- (const Vector3 &v1, const Vector3 &v2)

TF2SIMD_FORCE_INLINE Vector3	operator- (const Vector3 &v)

TF2SIMD_FORCE_INLINE Vector3	operator* (const Vector3 &v, const tf2Scalar &s)

TF2SIMD_FORCE_INLINE Vector3	operator* (const tf2Scalar &s, const Vector3 &v)

TF2SIMD_FORCE_INLINE Vector3	operator/ (const Vector3 &v, const tf2Scalar &s)

TF2SIMD_FORCE_INLINE Vector3	operator/ (const Vector3 &v1, const Vector3 &v2)

TF2SIMD_FORCE_INLINE tf2Scalar	tf2Dot (const Vector3 &v1, const Vector3 &v2)

TF2SIMD_FORCE_INLINE tf2Scalar	tf2Distance2 (const Vector3 &v1, const Vector3 &v2)

TF2SIMD_FORCE_INLINE tf2Scalar	tf2Distance (const Vector3 &v1, const Vector3 &v2)

TF2SIMD_FORCE_INLINE tf2Scalar	tf2Angle (const Vector3 &v1, const Vector3 &v2)

TF2SIMD_FORCE_INLINE Vector3	tf2Cross (const Vector3 &v1, const Vector3 &v2)

TF2SIMD_FORCE_INLINE tf2Scalar	tf2Triple (const Vector3 &v1, const Vector3 &v2, const Vector3 &v3)

TF2SIMD_FORCE_INLINE Vector3	lerp (const Vector3 &v1, const Vector3 &v2, const tf2Scalar &t)

TF2SIMD_FORCE_INLINE void	tf2SwapScalarEndian (const tf2Scalar &sourceVal, tf2Scalar &destVal)

TF2SIMD_FORCE_INLINE void	tf2SwapVector3Endian (const Vector3 &sourceVec, Vector3 &destVec)

TF2SIMD_FORCE_INLINE void	tf2UnSwapVector3Endian (Vector3 &vector)

TF2SIMD_FORCE_INLINE void	tf2PlaneSpace1 (const Vector3 &n, Vector3 &p, Vector3 &q)

TimePoint	get_now ()

Duration	durationFromSec (double t_sec)

TimePoint	timeFromSec (double t_sec)

double	durationToSec (const tf2::Duration &input)

double	timeToSec (const TimePoint &timepoint)

std::string	displayTimePoint (const TimePoint &stamp)

bool	operator== (const Stamped< T > &a, const Stamped< T > &b)

void	getEulerYPR (const A &a, double &yaw, double &pitch, double &roll)

double	getYaw (const A &a)

A	getTransformIdentity ()

Eigen::Isometry3d	transformToEigen (const geometry_msgs::msg::Transform &t)
	Convert a timestamped transform to the equivalent Eigen data type. More...

Eigen::Isometry3d	transformToEigen (const geometry_msgs::msg::TransformStamped &t)
	Convert a timestamped transform to the equivalent Eigen data type. More...

geometry_msgs::msg::TransformStamped	eigenToTransform (const Eigen::Affine3d &T)
	Convert an Eigen Affine3d transform to the equivalent geometry_msgs message type. More...

geometry_msgs::msg::TransformStamped	eigenToTransform (const Eigen::Isometry3d &T)
	Convert an Eigen Isometry3d transform to the equivalent geometry_msgs message type. More...

template<>
void	doTransform (const Eigen::Vector3d &t_in, Eigen::Vector3d &t_out, const geometry_msgs::msg::TransformStamped &transform)
	Apply a geometry_msgs TransformStamped to an Eigen-specific Vector3d type. This function is a specialization of the doTransform template defined in tf2/convert.h, although it can not be used in tf2_ros::BufferInterface::transform because this functions rely on the existence of a time stamp and a frame id in the type which should get transformed. More...

geometry_msgs::msg::Point	toMsg (const Eigen::Vector3d &in)
	Convert a Eigen Vector3d type to a Point message. This function is a specialization of the toMsg template defined in tf2/convert.h. More...

void	fromMsg (const geometry_msgs::msg::Point &msg, Eigen::Vector3d &out)
	Convert a Point message type to a Eigen-specific Vector3d type. This function is a specialization of the fromMsg template defined in tf2/convert.h. More...

geometry_msgs::msg::Vector3 &	toMsg (const Eigen::Vector3d &in, geometry_msgs::msg::Vector3 &out)
	Convert an Eigen Vector3d type to a Vector3 message. This function is a specialization of the toMsg template defined in tf2/convert.h. More...

void	fromMsg (const geometry_msgs::msg::Vector3 &msg, Eigen::Vector3d &out)
	Convert a Vector3 message type to a Eigen-specific Vector3d type. This function is a specialization of the fromMsg template defined in tf2/convert.h. More...

template<>
void	doTransform (const tf2::Stamped< Eigen::Vector3d > &t_in, tf2::Stamped< Eigen::Vector3d > &t_out, const geometry_msgs::msg::TransformStamped &transform)
	Apply a geometry_msgs TransformStamped to an Eigen-specific Vector3d type. This function is a specialization of the doTransform template defined in tf2/convert.h. More...

geometry_msgs::msg::PointStamped	toMsg (const tf2::Stamped< Eigen::Vector3d > &in)
	Convert a stamped Eigen Vector3d type to a PointStamped message. This function is a specialization of the toMsg template defined in tf2/convert.h. More...

void	fromMsg (const geometry_msgs::msg::PointStamped &msg, tf2::Stamped< Eigen::Vector3d > &out)
	Convert a PointStamped message type to a stamped Eigen-specific Vector3d type. This function is a specialization of the fromMsg template defined in tf2/convert.h. More...

template<>
void	doTransform (const Eigen::Affine3d &t_in, Eigen::Affine3d &t_out, const geometry_msgs::msg::TransformStamped &transform)
	Apply a geometry_msgs Transform to an Eigen Affine3d transform. This function is a specialization of the doTransform template defined in tf2/convert.h, although it can not be used in tf2_ros::BufferInterface::transform because this function relies on the existence of a time stamp and a frame id in the type which should get transformed. More...

template<>
void	doTransform (const Eigen::Isometry3d &t_in, Eigen::Isometry3d &t_out, const geometry_msgs::msg::TransformStamped &transform)

geometry_msgs::msg::Quaternion	toMsg (const Eigen::Quaterniond &in)
	Convert a Eigen Quaterniond type to a Quaternion message. This function is a specialization of the toMsg template defined in tf2/convert.h. More...

void	fromMsg (const geometry_msgs::msg::Quaternion &msg, Eigen::Quaterniond &out)
	Convert a Quaternion message type to a Eigen-specific Quaterniond type. This function is a specialization of the fromMsg template defined in tf2/convert.h. More...

template<>
void	doTransform (const Eigen::Quaterniond &t_in, Eigen::Quaterniond &t_out, const geometry_msgs::msg::TransformStamped &transform)
	Apply a geometry_msgs TransformStamped to an Eigen-specific Quaterniond type. This function is a specialization of the doTransform template defined in tf2/convert.h, although it can not be used in tf2_ros::BufferInterface::transform because this functions rely on the existence of a time stamp and a frame id in the type which should get transformed. More...

geometry_msgs::msg::QuaternionStamped	toMsg (const Stamped< Eigen::Quaterniond > &in)
	Convert a stamped Eigen Quaterniond type to a QuaternionStamped message. This function is a specialization of the toMsg template defined in tf2/convert.h. More...

void	fromMsg (const geometry_msgs::msg::QuaternionStamped &msg, Stamped< Eigen::Quaterniond > &out)
	Convert a QuaternionStamped message type to a stamped Eigen-specific Quaterniond type. This function is a specialization of the fromMsg template defined in tf2/convert.h. More...

template<>
void	doTransform (const tf2::Stamped< Eigen::Quaterniond > &t_in, tf2::Stamped< Eigen::Quaterniond > &t_out, const geometry_msgs::msg::TransformStamped &transform)
	Apply a geometry_msgs TransformStamped to an Eigen-specific Quaterniond type. This function is a specialization of the doTransform template defined in tf2/convert.h. More...

geometry_msgs::msg::Pose	toMsg (const Eigen::Affine3d &in)
	Convert a Eigen Affine3d transform type to a Pose message. This function is a specialization of the toMsg template defined in tf2/convert.h. More...

geometry_msgs::msg::Pose	toMsg (const Eigen::Isometry3d &in)
	Convert a Eigen Isometry3d transform type to a Pose message. This function is a specialization of the toMsg template defined in tf2/convert.h. More...

geometry_msgs::msg::Vector3	toMsg2 (const Eigen::Vector3d &in)
	Convert a Eigen::Vector3d type to a geometry_msgs::msg::Vector3. This function is a specialization of the toMsg template defined in tf2/convert.h. The function was renamed to toMsg2 to avoid overloading conflicts with definitions above. More...

void	fromMsg (const geometry_msgs::msg::Pose &msg, Eigen::Affine3d &out)
	Convert a Pose message transform type to a Eigen Affine3d. This function is a specialization of the toMsg template defined in tf2/convert.h. More...

void	fromMsg (const geometry_msgs::msg::Pose &msg, Eigen::Isometry3d &out)
	Convert a Pose message transform type to a Eigen Isometry3d. This function is a specialization of the toMsg template defined in tf2/convert.h. More...

geometry_msgs::msg::Twist	toMsg (const Eigen::Matrix< double, 6, 1 > &in)
	Convert a Eigen 6x1 Matrix type to a Twist message. This function is a specialization of the toMsg template defined in tf2/convert.h. More...

void	fromMsg (const geometry_msgs::msg::Twist &msg, Eigen::Matrix< double, 6, 1 > &out)
	Convert a Twist message transform type to a Eigen 6x1 Matrix. This function is a specialization of the toMsg template defined in tf2/convert.h. More...

template<>
void	doTransform (const tf2::Stamped< Eigen::Affine3d > &t_in, tf2::Stamped< Eigen::Affine3d > &t_out, const geometry_msgs::msg::TransformStamped &transform)
	Apply a geometry_msgs TransformStamped to an Eigen Affine3d transform. This function is a specialization of the doTransform template defined in tf2/convert.h, although it can not be used in tf2_ros::BufferInterface::transform because this function relies on the existence of a time stamp and a frame id in the type which should get transformed. More...

template<>
void	doTransform (const tf2::Stamped< Eigen::Isometry3d > &t_in, tf2::Stamped< Eigen::Isometry3d > &t_out, const geometry_msgs::msg::TransformStamped &transform)
	Apply a geometry_msgs TransformStamped to an Eigen Isometry transform. This function is a specialization of the doTransform template defined in tf2/convert.h, although it can not be used in tf2_ros::BufferInterface::transform because this function relies on the existence of a time stamp and a frame id in the type which should get transformed. More...

geometry_msgs::msg::PoseStamped	toMsg (const tf2::Stamped< Eigen::Affine3d > &in)
	Convert a stamped Eigen Affine3d transform type to a Pose message. This function is a specialization of the toMsg template defined in tf2/convert.h. More...

geometry_msgs::msg::PoseStamped	toMsg (const tf2::Stamped< Eigen::Isometry3d > &in)

void	fromMsg (const geometry_msgs::msg::PoseStamped &msg, tf2::Stamped< Eigen::Affine3d > &out)
	Convert a Pose message transform type to a stamped Eigen Affine3d. This function is a specialization of the toMsg template defined in tf2/convert.h. More...

void	fromMsg (const geometry_msgs::msg::PoseStamped &msg, tf2::Stamped< Eigen::Isometry3d > &out)

Variables
	TransformAvailable

	TransformFailure

constexpr tf2::Duration	TIMECACHE_DEFAULT_MAX_STORAGE_TIME

Detailed Description

Author: Koji Terada

Function Documentation

◆ transformToEigen() [1/2]

Eigen::Isometry3d tf2::transformToEigen ( const geometry_msgs::msg::Transform & t )

inline

Convert a timestamped transform to the equivalent Eigen data type.

Parameters

t	The transform to convert, as a geometry_msgs Transform message.

Returns: The transform message converted to an Eigen Isometry3d transform.

◆ transformToEigen() [2/2]

Eigen::Isometry3d tf2::transformToEigen ( const geometry_msgs::msg::TransformStamped & t )

inline

Convert a timestamped transform to the equivalent Eigen data type.

Parameters

t	The transform to convert, as a geometry_msgs TransformedStamped message.

Returns: The transform message converted to an Eigen Isometry3d transform.

◆ eigenToTransform() [1/2]

geometry_msgs::msg::TransformStamped tf2::eigenToTransform ( const Eigen::Affine3d & T )

inline

Convert an Eigen Affine3d transform to the equivalent geometry_msgs message type.

Parameters

T	The transform to convert, as an Eigen Affine3d transform.

Returns: The transform converted to a TransformStamped message.

◆ eigenToTransform() [2/2]

geometry_msgs::msg::TransformStamped tf2::eigenToTransform ( const Eigen::Isometry3d & T )

inline

Convert an Eigen Isometry3d transform to the equivalent geometry_msgs message type.

Parameters

T	The transform to convert, as an Eigen Isometry3d transform.

Returns: The transform converted to a TransformStamped message.

◆ doTransform() [1/8]

template<>

void tf2::doTransform	(	const Eigen::Vector3d &	t_in,
		Eigen::Vector3d &	t_out,
		const geometry_msgs::msg::TransformStamped &	transform
	)

inline

Apply a geometry_msgs TransformStamped to an Eigen-specific Vector3d type. This function is a specialization of the doTransform template defined in tf2/convert.h, although it can not be used in tf2_ros::BufferInterface::transform because this functions rely on the existence of a time stamp and a frame id in the type which should get transformed.

Parameters

t_in	The vector to transform, as a Eigen Vector3d data type.
t_out	The transformed vector, as a Eigen Vector3d data type.
transform	The timestamped transform to apply, as a TransformStamped message.

◆ toMsg() [1/10]

geometry_msgs::msg::Point tf2::toMsg ( const Eigen::Vector3d & in )

inline

Convert a Eigen Vector3d type to a Point message. This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

in	The timestamped Eigen Vector3d to convert.

Returns: The vector converted to a Point message.

◆ fromMsg() [1/10]

void tf2::fromMsg	(	const geometry_msgs::msg::Point &	msg,
		Eigen::Vector3d &	out
	)

inline

Convert a Point message type to a Eigen-specific Vector3d type. This function is a specialization of the fromMsg template defined in tf2/convert.h.

Parameters

msg	The Point message to convert.
out	The point converted to a Eigen Vector3d.

◆ toMsg() [2/10]

geometry_msgs::msg::Vector3& tf2::toMsg	(	const Eigen::Vector3d &	in,
		geometry_msgs::msg::Vector3 &	out
	)

inline

Convert an Eigen Vector3d type to a Vector3 message. This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

in	The Eigen Vector3d to convert.

Returns: The vector converted to a Vector3 message.

◆ fromMsg() [2/10]

void tf2::fromMsg	(	const geometry_msgs::msg::Vector3 &	msg,
		Eigen::Vector3d &	out
	)

inline

Convert a Vector3 message type to a Eigen-specific Vector3d type. This function is a specialization of the fromMsg template defined in tf2/convert.h.

Parameters

msg	The Vector3 message to convert.
out	The vector converted to a Eigen Vector3d.

◆ doTransform() [2/8]

template<>

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

inline

Apply a geometry_msgs TransformStamped to an Eigen-specific Vector3d type. This function is a specialization of the doTransform template defined in tf2/convert.h.

Parameters

t_in	The vector to transform, as a timestamped Eigen Vector3d data type.
t_out	The transformed vector, as a timestamped Eigen Vector3d data type.
transform	The timestamped transform to apply, as a TransformStamped message.

◆ toMsg() [3/10]

geometry_msgs::msg::PointStamped tf2::toMsg ( const tf2::Stamped< Eigen::Vector3d > & in )

inline

Convert a stamped Eigen Vector3d type to a PointStamped message. This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

in	The timestamped Eigen Vector3d to convert.

Returns: The vector converted to a PointStamped message.

◆ fromMsg() [3/10]

void tf2::fromMsg	(	const geometry_msgs::msg::PointStamped &	msg,
		tf2::Stamped< Eigen::Vector3d > &	out
	)

inline

Convert a PointStamped message type to a stamped Eigen-specific Vector3d type. This function is a specialization of the fromMsg template defined in tf2/convert.h.

Parameters

msg	The PointStamped message to convert.
out	The point converted to a timestamped Eigen Vector3d.

◆ doTransform() [3/8]

template<>

void tf2::doTransform	(	const Eigen::Affine3d &	t_in,
		Eigen::Affine3d &	t_out,
		const geometry_msgs::msg::TransformStamped &	transform
	)

inline

Apply a geometry_msgs Transform to an Eigen Affine3d transform. This function is a specialization of the doTransform template defined in tf2/convert.h, although it can not be used in tf2_ros::BufferInterface::transform because this function relies on the existence of a time stamp and a frame id in the type which should get transformed.

Parameters

t_in	The frame to transform, as a Eigen Affine3d transform.
t_out	The transformed frame, as a Eigen Affine3d transform.
transform	The timestamped transform to apply, as a TransformStamped message.

◆ doTransform() [4/8]

template<>

void tf2::doTransform	(	const Eigen::Isometry3d &	t_in,
		Eigen::Isometry3d &	t_out,
		const geometry_msgs::msg::TransformStamped &	transform
	)

inline

◆ toMsg() [4/10]

geometry_msgs::msg::Quaternion tf2::toMsg ( const Eigen::Quaterniond & in )

inline

Convert a Eigen Quaterniond type to a Quaternion message. This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

in	The Eigen Quaterniond to convert.

Returns: The quaternion converted to a Quaterion message.

◆ fromMsg() [4/10]

void tf2::fromMsg	(	const geometry_msgs::msg::Quaternion &	msg,
		Eigen::Quaterniond &	out
	)

inline

Convert a Quaternion message type to a Eigen-specific Quaterniond type. This function is a specialization of the fromMsg template defined in tf2/convert.h.

Parameters

msg	The Quaternion message to convert.
out	The quaternion converted to a Eigen Quaterniond.

◆ doTransform() [5/8]

template<>

void tf2::doTransform	(	const Eigen::Quaterniond &	t_in,
		Eigen::Quaterniond &	t_out,
		const geometry_msgs::msg::TransformStamped &	transform
	)

inline

Apply a geometry_msgs TransformStamped to an Eigen-specific Quaterniond type. This function is a specialization of the doTransform template defined in tf2/convert.h, although it can not be used in tf2_ros::BufferInterface::transform because this functions rely on the existence of a time stamp and a frame id in the type which should get transformed.

Parameters

t_in	The vector to transform, as a Eigen Quaterniond data type.
t_out	The transformed vector, as a Eigen Quaterniond data type.
transform	The timestamped transform to apply, as a TransformStamped message.

◆ toMsg() [5/10]

geometry_msgs::msg::QuaternionStamped tf2::toMsg ( const Stamped< Eigen::Quaterniond > & in )

inline

Convert a stamped Eigen Quaterniond type to a QuaternionStamped message. This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

in	The timestamped Eigen Quaterniond to convert.

Returns: The quaternion converted to a QuaternionStamped message.

◆ fromMsg() [5/10]

void tf2::fromMsg	(	const geometry_msgs::msg::QuaternionStamped &	msg,
		Stamped< Eigen::Quaterniond > &	out
	)

inline

Convert a QuaternionStamped message type to a stamped Eigen-specific Quaterniond type. This function is a specialization of the fromMsg template defined in tf2/convert.h.

Parameters

msg	The QuaternionStamped message to convert.
out	The quaternion converted to a timestamped Eigen Quaterniond.

◆ doTransform() [6/8]

template<>

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

inline

Apply a geometry_msgs TransformStamped to an Eigen-specific Quaterniond type. This function is a specialization of the doTransform template defined in tf2/convert.h.

Parameters

t_in	The vector to transform, as a timestamped Eigen Quaterniond data type.
t_out	The transformed vector, as a timestamped Eigen Quaterniond data type.
transform	The timestamped transform to apply, as a TransformStamped message.

◆ toMsg() [6/10]

geometry_msgs::msg::Pose tf2::toMsg ( const Eigen::Affine3d & in )

inline

Convert a Eigen Affine3d transform type to a Pose message. This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

in	The Eigen Affine3d to convert.

Returns: The Eigen transform converted to a Pose message.

◆ toMsg() [7/10]

geometry_msgs::msg::Pose tf2::toMsg ( const Eigen::Isometry3d & in )

inline

Convert a Eigen Isometry3d transform type to a Pose message. This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

in	The Eigen Isometry3d to convert.

Returns: The Eigen transform converted to a Pose message.

◆ toMsg2()

geometry_msgs::msg::Vector3 tf2::toMsg2 ( const Eigen::Vector3d & in )

inline

Convert a Eigen::Vector3d type to a geometry_msgs::msg::Vector3. This function is a specialization of the toMsg template defined in tf2/convert.h. The function was renamed to toMsg2 to avoid overloading conflicts with definitions above.

Parameters

in	The Eigen::Vector3d to convert.

Returns: The Eigen::Vector3d converted to a geometry_msgs::msg::Vector3 message.

◆ fromMsg() [6/10]

void tf2::fromMsg	(	const geometry_msgs::msg::Pose &	msg,
		Eigen::Affine3d &	out
	)

inline

Convert a Pose message transform type to a Eigen Affine3d. This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

msg	The Pose message to convert.
out	The pose converted to a Eigen Affine3d.

◆ fromMsg() [7/10]

void tf2::fromMsg	(	const geometry_msgs::msg::Pose &	msg,
		Eigen::Isometry3d &	out
	)

inline

Convert a Pose message transform type to a Eigen Isometry3d. This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

msg	The Pose message to convert.
out	The pose converted to a Eigen Isometry3d.

◆ toMsg() [8/10]

geometry_msgs::msg::Twist tf2::toMsg ( const Eigen::Matrix< double, 6, 1 > & in )

inline

Convert a Eigen 6x1 Matrix type to a Twist message. This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

in	The 6x1 Eigen Matrix to convert.

Returns: The Eigen Matrix converted to a Twist message.

◆ fromMsg() [8/10]

void tf2::fromMsg	(	const geometry_msgs::msg::Twist &	msg,
		Eigen::Matrix< double, 6, 1 > &	out
	)

inline

Convert a Twist message transform type to a Eigen 6x1 Matrix. This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

msg	The Twist message to convert.
out	The twist converted to a Eigen 6x1 Matrix.

◆ doTransform() [7/8]

template<>

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

inline

Apply a geometry_msgs TransformStamped to an Eigen Affine3d transform. This function is a specialization of the doTransform template defined in tf2/convert.h, although it can not be used in tf2_ros::BufferInterface::transform because this function relies on the existence of a time stamp and a frame id in the type which should get transformed.

Parameters

t_in	The frame to transform, as a timestamped Eigen Affine3d transform.
t_out	The transformed frame, as a timestamped Eigen Affine3d transform.
transform	The timestamped transform to apply, as a TransformStamped message.

◆ doTransform() [8/8]

template<>

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

inline

Apply a geometry_msgs TransformStamped to an Eigen Isometry transform. This function is a specialization of the doTransform template defined in tf2/convert.h, although it can not be used in tf2_ros::BufferInterface::transform because this function relies on the existence of a time stamp and a frame id in the type which should get transformed.

Parameters

t_in	The frame to transform, as a timestamped Eigen Isometry transform.
t_out	The transformed frame, as a timestamped Eigen Isometry transform.
transform	The timestamped transform to apply, as a TransformStamped message.

◆ toMsg() [9/10]

geometry_msgs::msg::PoseStamped tf2::toMsg ( const tf2::Stamped< Eigen::Affine3d > & in )

inline

Convert a stamped Eigen Affine3d transform type to a Pose message. This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

in	The timestamped Eigen Affine3d to convert.

Returns: The Eigen transform converted to a PoseStamped message.

◆ toMsg() [10/10]

geometry_msgs::msg::PoseStamped tf2::toMsg ( const tf2::Stamped< Eigen::Isometry3d > & in )

inline

◆ fromMsg() [9/10]

void tf2::fromMsg	(	const geometry_msgs::msg::PoseStamped &	msg,
		tf2::Stamped< Eigen::Affine3d > &	out
	)

inline

Convert a Pose message transform type to a stamped Eigen Affine3d. This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

msg	The PoseStamped message to convert.
out	The pose converted to a timestamped Eigen Affine3d.

◆ fromMsg() [10/10]

void tf2::fromMsg	(	const geometry_msgs::msg::PoseStamped &	msg,
		tf2::Stamped< Eigen::Isometry3d > &	out
	)

inline

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Detailed Description

Function Documentation

◆ transformToEigen() [1/2]

◆ transformToEigen() [2/2]

◆ eigenToTransform() [1/2]

◆ eigenToTransform() [2/2]

◆ doTransform() [1/8]

◆ toMsg() [1/10]

◆ fromMsg() [1/10]

◆ toMsg() [2/10]

◆ fromMsg() [2/10]

◆ doTransform() [2/8]

◆ toMsg() [3/10]

◆ fromMsg() [3/10]

◆ doTransform() [3/8]

◆ doTransform() [4/8]

◆ toMsg() [4/10]

◆ fromMsg() [4/10]

◆ doTransform() [5/8]

◆ toMsg() [5/10]

◆ fromMsg() [5/10]

◆ doTransform() [6/8]

◆ toMsg() [6/10]

◆ toMsg() [7/10]

◆ toMsg2()

◆ fromMsg() [6/10]

◆ fromMsg() [7/10]

◆ toMsg() [8/10]

◆ fromMsg() [8/10]

◆ doTransform() [7/8]

◆ doTransform() [8/8]

◆ toMsg() [9/10]

◆ toMsg() [10/10]

◆ fromMsg() [9/10]

◆ fromMsg() [10/10]