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 ()

KDL::Frame	transformToKDL (const geometry_msgs::msg::TransformStamped &t)
	Convert a timestamped transform to the equivalent KDL data type. More...

geometry_msgs::msg::TransformStamped	kdlToTransform (const KDL::Frame &k)
	Convert an KDL Frame to the equivalent geometry_msgs message type. More...

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

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

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

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

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

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

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

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

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

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

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

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

Variables
	TransformAvailable

	TransformFailure

constexpr tf2::Duration	TIMECACHE_DEFAULT_MAX_STORAGE_TIME

Detailed Description

Author: Wim Meeussen

Function Documentation

◆ transformToKDL()

KDL::Frame tf2::transformToKDL ( const geometry_msgs::msg::TransformStamped & t )

inline

Convert a timestamped transform to the equivalent KDL data type.

Parameters

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

Returns: The transform message converted to an KDL Frame.

◆ kdlToTransform()

geometry_msgs::msg::TransformStamped tf2::kdlToTransform ( const KDL::Frame & k )

inline

Convert an KDL Frame to the equivalent geometry_msgs message type.

Parameters

k	The transform to convert, as an KDL Frame.

Returns: The transform converted to a TransformStamped message.

◆ doTransform() [1/4]

template<>

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

inline

Apply a geometry_msgs TransformStamped to an KDL-specific Vector 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 KDL Vector data type.
t_out	The transformed vector, as a timestamped KDL Vector data type.
transform	The timestamped transform to apply, as a TransformStamped message.

◆ toMsg() [1/5]

geometry_msgs::msg::PointStamped tf2::toMsg ( const tf2::Stamped< KDL::Vector > & in )

inline

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

Parameters

in	The timestamped KDL Vector to convert.

Returns: The vector converted to a PointStamped message.

◆ fromMsg() [1/5]

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

inline

Convert a PointStamped message type to a stamped KDL-specific Vector 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 KDL Vector.

◆ doTransform() [2/4]

template<>

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

inline

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

Parameters

t_in	The twist to transform, as a timestamped KDL Twist data type.
t_out	The transformed Twist, as a timestamped KDL Frame data type.
transform	The timestamped transform to apply, as a TransformStamped message.

◆ toMsg() [2/5]

geometry_msgs::msg::TwistStamped tf2::toMsg ( const tf2::Stamped< KDL::Twist > & in )

inline

Convert a stamped KDL Twist type to a TwistStamped message. This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

in	The timestamped KDL Twist to convert.

Returns: The twist converted to a TwistStamped message.

◆ fromMsg() [2/5]

void tf2::fromMsg	(	const geometry_msgs::msg::TwistStamped &	msg,
		tf2::Stamped< KDL::Twist > &	out
	)

inline

Convert a TwistStamped message type to a stamped KDL-specific Twist type. This function is a specialization of the fromMsg template defined in tf2/convert.h.

Parameters

msg	The TwistStamped message to convert.
out	The twist converted to a timestamped KDL Twist.

◆ doTransform() [3/4]

template<>

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

inline

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

Parameters

t_in	The wrench to transform, as a timestamped KDL Wrench data type.
t_out	The transformed Wrench, as a timestamped KDL Frame data type.
transform	The timestamped transform to apply, as a TransformStamped message.

◆ toMsg() [3/5]

geometry_msgs::msg::WrenchStamped tf2::toMsg ( const tf2::Stamped< KDL::Wrench > & in )

inline

Convert a stamped KDL Wrench type to a WrenchStamped message. This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

in	The timestamped KDL Wrench to convert.

Returns: The wrench converted to a WrenchStamped message.

◆ fromMsg() [3/5]

void tf2::fromMsg	(	const geometry_msgs::msg::WrenchStamped &	msg,
		tf2::Stamped< KDL::Wrench > &	out
	)

inline

Convert a WrenchStamped message type to a stamped KDL-specific Wrench type. This function is a specialization of the fromMsg template defined in tf2/convert.h.

Parameters

msg	The WrenchStamped message to convert.
out	The wrench converted to a timestamped KDL Wrench.

◆ doTransform() [4/4]

template<>

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

inline

Apply a geometry_msgs TransformStamped to a KDL-specific Frame data type. This function is a specialization of the doTransform template defined in tf2/convert.h.

Parameters

t_in	The frame to transform, as a timestamped KDL Frame.
t_out	The transformed frame, as a timestamped KDL Frame.
transform	The timestamped transform to apply, as a TransformStamped message.

◆ toMsg() [4/5]

geometry_msgs::msg::Pose tf2::toMsg ( const KDL::Frame & in )

inline

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

Parameters

in	The timestamped KDL Frame to convert.

Returns: The frame converted to a Pose message.

◆ fromMsg() [4/5]

void tf2::fromMsg	(	const geometry_msgs::msg::Pose &	msg,
		KDL::Frame &	out
	)

inline

Convert a Pose message type to a KDL Frame. This function is a specialization of the fromMsg template defined in tf2/convert.h.

Parameters

msg	The Pose message to convert.
out	The pose converted to a KDL Frame.

◆ toMsg() [5/5]

geometry_msgs::msg::PoseStamped tf2::toMsg ( const tf2::Stamped< KDL::Frame > & in )

inline

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

Parameters

in	The timestamped KDL Frame to convert.

Returns: The frame converted to a PoseStamped message.

◆ fromMsg() [5/5]

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

inline

Convert a Pose message transform type to a stamped KDL Frame. This function is a specialization of the fromMsg template defined in tf2/convert.h.

Parameters

msg	The PoseStamped message to convert.
out	The pose converted to a timestamped KDL Frame.

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Detailed Description

Function Documentation

◆ transformToKDL()

◆ kdlToTransform()

◆ doTransform() [1/4]

◆ toMsg() [1/5]

◆ fromMsg() [1/5]

◆ doTransform() [2/4]

◆ toMsg() [2/5]

◆ fromMsg() [2/5]

◆ doTransform() [3/4]

◆ toMsg() [3/5]

◆ fromMsg() [3/5]

◆ doTransform() [4/4]

◆ toMsg() [4/5]

◆ fromMsg() [4/5]

◆ toMsg() [5/5]

◆ fromMsg() [5/5]