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	gmTransformToKDL (const geometry_msgs::msg::TransformStamped &t)
	Convert a TransformStamped message to a KDL frame. More...

template<>
tf2::TimePoint	getTimestamp (const geometry_msgs::msg::Vector3Stamped &t)
	Extract a timestamp from the header of a Vector message. This function is a specialization of the getTimestamp template defined in tf2/convert.h. More...

template<>
std::string	getFrameId (const geometry_msgs::msg::Vector3Stamped &t)
	Extract a frame ID from the header of a Vector message. This function is a specialization of the getFrameId template defined in tf2/convert.h. More...

template<>
void	doTransform (const geometry_msgs::msg::Vector3Stamped &t_in, geometry_msgs::msg::Vector3Stamped &t_out, const geometry_msgs::msg::TransformStamped &transform)
	Apply a geometry_msgs TransformStamped to an geometry_msgs Vector type. This function is a specialization of the doTransform template defined in tf2/convert.h. More...

geometry_msgs::msg::Vector3Stamped	toMsg (const geometry_msgs::msg::Vector3Stamped &in)
	Trivial "conversion" function for Vector3 message type. This function is a specialization of the toMsg template defined in tf2/convert.h. More...

void	fromMsg (const geometry_msgs::msg::Vector3Stamped &msg, geometry_msgs::msg::Vector3Stamped &out)
	Trivial "conversion" function for Vector3 message type. This function is a specialization of the toMsg template defined in tf2/convert.h. More...

template<>
tf2::TimePoint	getTimestamp (const geometry_msgs::msg::PointStamped &t)
	Extract a timestamp from the header of a Point message. This function is a specialization of the getTimestamp template defined in tf2/convert.h. More...

template<>
std::string	getFrameId (const geometry_msgs::msg::PointStamped &t)
	Extract a frame ID from the header of a Point message. This function is a specialization of the getFrameId template defined in tf2/convert.h. More...

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

geometry_msgs::msg::PointStamped	toMsg (const geometry_msgs::msg::PointStamped &in)
	Trivial "conversion" function for Point message type. This function is a specialization of the toMsg template defined in tf2/convert.h. More...

void	fromMsg (const geometry_msgs::msg::PointStamped &msg, geometry_msgs::msg::PointStamped &out)
	Trivial "conversion" function for Point message type. This function is a specialization of the toMsg template defined in tf2/convert.h. More...

template<>
tf2::TimePoint	getTimestamp (const geometry_msgs::msg::PoseStamped &t)
	Extract a timestamp from the header of a Pose message. This function is a specialization of the getTimestamp template defined in tf2/convert.h. More...

template<>
std::string	getFrameId (const geometry_msgs::msg::PoseStamped &t)
	Extract a frame ID from the header of a Pose message. This function is a specialization of the getFrameId template defined in tf2/convert.h. More...

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

geometry_msgs::msg::PoseStamped	toMsg (const geometry_msgs::msg::PoseStamped &in)
	Trivial "conversion" function for Pose message type. This function is a specialization of the toMsg template defined in tf2/convert.h. More...

void	fromMsg (const geometry_msgs::msg::PoseStamped &msg, geometry_msgs::msg::PoseStamped &out)
	Trivial "conversion" function for Pose message type. This function is a specialization of the toMsg template defined in tf2/convert.h. More...

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

void	fromMsg (const geometry_msgs::msg::Quaternion &in, tf2::Quaternion &out)
	Convert a Quaternion message to its equivalent tf2 representation. This function is a specialization of the toMsg template defined in tf2/convert.h. More...

template<>
tf2::TimePoint	getTimestamp (const geometry_msgs::msg::QuaternionStamped &t)
	Extract a timestamp from the header of a Quaternion message. This function is a specialization of the getTimestamp template defined in tf2/convert.h. More...

template<>
std::string	getFrameId (const geometry_msgs::msg::QuaternionStamped &t)
	Extract a frame ID from the header of a Quaternion message. This function is a specialization of the getFrameId template defined in tf2/convert.h. More...

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

geometry_msgs::msg::QuaternionStamped	toMsg (const geometry_msgs::msg::QuaternionStamped &in)
	Trivial "conversion" function for Quaternion message type. This function is a specialization of the toMsg template defined in tf2/convert.h. More...

void	fromMsg (const geometry_msgs::msg::QuaternionStamped &msg, geometry_msgs::msg::QuaternionStamped &out)
	Trivial "conversion" function for Quaternion message type. This function is a specialization of the toMsg template defined in tf2/convert.h. More...

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

void	fromMsg (const geometry_msgs::msg::QuaternionStamped &in, tf2::Stamped< tf2::Quaternion > &out)
	Convert a QuaternionStamped message to its equivalent tf2 representation. This function is a specialization of the toMsg template defined in tf2/convert.h. More...

geometry_msgs::msg::Transform	toMsg (const tf2::Transform &in)
	Convert a tf2 Transform type to its equivalent geometry_msgs representation. This function is a specialization of the toMsg template defined in tf2/convert.h. More...

void	fromMsg (const geometry_msgs::msg::Transform &in, tf2::Transform &out)
	Convert a Transform message to its equivalent tf2 representation. This function is a specialization of the toMsg template defined in tf2/convert.h. More...

template<>
tf2::TimePoint	getTimestamp (const geometry_msgs::msg::TransformStamped &t)
	Extract a timestamp from the header of a Transform message. This function is a specialization of the getTimestamp template defined in tf2/convert.h. More...

template<>
std::string	getFrameId (const geometry_msgs::msg::TransformStamped &t)
	Extract a frame ID from the header of a Transform message. This function is a specialization of the getFrameId template defined in tf2/convert.h. More...

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

geometry_msgs::msg::TransformStamped	toMsg (const geometry_msgs::msg::TransformStamped &in)
	Trivial "conversion" function for Transform message type. This function is a specialization of the toMsg template defined in tf2/convert.h. More...

void	fromMsg (const geometry_msgs::msg::TransformStamped &msg, geometry_msgs::msg::TransformStamped &out)
	Convert a TransformStamped message to its equivalent tf2 representation. This function is a specialization of the toMsg template defined in tf2/convert.h. More...

void	fromMsg (const geometry_msgs::msg::TransformStamped &in, tf2::Stamped< tf2::Transform > &out)
	Convert a TransformStamped message to its equivalent tf2 representation. This function is a specialization of the toMsg template defined in tf2/convert.h. More...

geometry_msgs::msg::TransformStamped	toMsg (const tf2::Stamped< tf2::Transform > &in)
	Convert as stamped tf2 Transform type to its equivalent geometry_msgs representation. This function is a specialization of the toMsg template defined in tf2/convert.h. More...

void	toMsg (const tf2::Transform &in, geometry_msgs::msg::Pose &out)
	Convert a tf2 Transform type to an equivalent geometry_msgs Pose message. More...

void	fromMsg (const geometry_msgs::msg::Pose &in, tf2::Transform &out)
	Convert a geometry_msgs Pose message to an equivalent tf2 Transform type. More...

Variables
	TransformAvailable

	TransformFailure

constexpr tf2::Duration	TIMECACHE_DEFAULT_MAX_STORAGE_TIME

Detailed Description

Author: Wim Meeussen

Function Documentation

◆ gmTransformToKDL()

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

inline

Convert a TransformStamped message to a KDL frame.

Parameters

t	TransformStamped message to convert.

Returns: The converted KDL Frame.

◆ getTimestamp() [1/5]

template<>

tf2::TimePoint tf2::getTimestamp ( const geometry_msgs::msg::Vector3Stamped & t )

inline

Extract a timestamp from the header of a Vector message. This function is a specialization of the getTimestamp template defined in tf2/convert.h.

Vector3Stamped

Parameters

t	VectorStamped message to extract the timestamp from.

Returns: The timestamp of the message.

◆ getFrameId() [1/5]

template<>

std::string tf2::getFrameId ( const geometry_msgs::msg::Vector3Stamped & t )

inline

Extract a frame ID from the header of a Vector message. This function is a specialization of the getFrameId template defined in tf2/convert.h.

Parameters

t	VectorStamped message to extract the frame ID from.

Returns: A string containing the frame ID of the message.

◆ doTransform() [1/5]

template<>

void tf2::doTransform	(	const geometry_msgs::msg::Vector3Stamped &	t_in,
		geometry_msgs::msg::Vector3Stamped &	t_out,
		const geometry_msgs::msg::TransformStamped &	transform
	)

inline

Apply a geometry_msgs TransformStamped to an geometry_msgs 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 Vector3 message.
t_out	The transformed vector, as a timestamped Vector3 message.
transform	The timestamped transform to apply, as a TransformStamped message.

◆ toMsg() [1/10]

geometry_msgs::msg::Vector3Stamped tf2::toMsg ( const geometry_msgs::msg::Vector3Stamped & in )

inline

Trivial "conversion" function for Vector3 message type. This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

in	A Vector3Stamped message.

Returns: The input argument.

◆ fromMsg() [1/10]

void tf2::fromMsg	(	const geometry_msgs::msg::Vector3Stamped &	msg,
		geometry_msgs::msg::Vector3Stamped &	out
	)

inline

Trivial "conversion" function for Vector3 message type. This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

msg	A Vector3Stamped message.
out	The input argument.

◆ getTimestamp() [2/5]

template<>

tf2::TimePoint tf2::getTimestamp ( const geometry_msgs::msg::PointStamped & t )

inline

Extract a timestamp from the header of a Point message. This function is a specialization of the getTimestamp template defined in tf2/convert.h.

PointStamped

Parameters

t	PointStamped message to extract the timestamp from.

Returns: The timestamp of the message.

◆ getFrameId() [2/5]

template<>

std::string tf2::getFrameId ( const geometry_msgs::msg::PointStamped & t )

inline

Extract a frame ID from the header of a Point message. This function is a specialization of the getFrameId template defined in tf2/convert.h.

Parameters

t	PointStamped message to extract the frame ID from.

Returns: A string containing the frame ID of the message.

◆ doTransform() [2/5]

template<>

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

inline

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

Parameters

t_in	The point to transform, as a timestamped Point3 message.
t_out	The transformed point, as a timestamped Point3 message.
transform	The timestamped transform to apply, as a TransformStamped message.

◆ toMsg() [2/10]

geometry_msgs::msg::PointStamped tf2::toMsg ( const geometry_msgs::msg::PointStamped & in )

inline

Trivial "conversion" function for Point message type. This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

in	A PointStamped message.

Returns: The input argument.

◆ fromMsg() [2/10]

void tf2::fromMsg	(	const geometry_msgs::msg::PointStamped &	msg,
		geometry_msgs::msg::PointStamped &	out
	)

inline

Trivial "conversion" function for Point message type. This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

msg	A PointStamped message.
out	The input argument.

◆ getTimestamp() [3/5]

template<>

tf2::TimePoint tf2::getTimestamp ( const geometry_msgs::msg::PoseStamped & t )

inline

Extract a timestamp from the header of a Pose message. This function is a specialization of the getTimestamp template defined in tf2/convert.h.

PoseStamped

Parameters

t	PoseStamped message to extract the timestamp from.

Returns: The timestamp of the message.

◆ getFrameId() [3/5]

template<>

std::string tf2::getFrameId ( const geometry_msgs::msg::PoseStamped & t )

inline

Extract a frame ID from the header of a Pose message. This function is a specialization of the getFrameId template defined in tf2/convert.h.

Parameters

t	PoseStamped message to extract the frame ID from.

Returns: A string containing the frame ID of the message.

◆ doTransform() [3/5]

template<>

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

inline

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

Parameters

t_in	The pose to transform, as a timestamped Pose3 message.
t_out	The transformed pose, as a timestamped Pose3 message.
transform	The timestamped transform to apply, as a TransformStamped message.

◆ toMsg() [3/10]

geometry_msgs::msg::PoseStamped tf2::toMsg ( const geometry_msgs::msg::PoseStamped & in )

inline

Trivial "conversion" function for Pose message type. This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

in	A PoseStamped message.

Returns: The input argument.

◆ fromMsg() [3/10]

void tf2::fromMsg	(	const geometry_msgs::msg::PoseStamped &	msg,
		geometry_msgs::msg::PoseStamped &	out
	)

inline

Trivial "conversion" function for Pose message type. This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

msg	A PoseStamped message.
out	The input argument.

◆ toMsg() [4/10]

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

inline

Convert a tf2 Quaternion type to its equivalent geometry_msgs representation. This function is a specialization of the toMsg template defined in tf2/convert.h.

Quaternion

Parameters

in	A tf2 Quaternion object.

Returns: The Quaternion converted to a geometry_msgs message type.

◆ fromMsg() [4/10]

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

inline

Convert a Quaternion message to its equivalent tf2 representation. This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

in	A Quaternion message type.
out	The Quaternion converted to a tf2 type.

◆ getTimestamp() [4/5]

template<>

tf2::TimePoint tf2::getTimestamp ( const geometry_msgs::msg::QuaternionStamped & t )

inline

Extract a timestamp from the header of a Quaternion message. This function is a specialization of the getTimestamp template defined in tf2/convert.h.

QuaternionStamped

Parameters

t	QuaternionStamped message to extract the timestamp from.

Returns: The timestamp of the message.

◆ getFrameId() [4/5]

template<>

std::string tf2::getFrameId ( const geometry_msgs::msg::QuaternionStamped & t )

inline

Extract a frame ID from the header of a Quaternion message. This function is a specialization of the getFrameId template defined in tf2/convert.h.

Parameters

t	QuaternionStamped message to extract the frame ID from.

Returns: A string containing the frame ID of the message.

◆ doTransform() [4/5]

template<>

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

inline

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

Parameters

t_in	The quaternion to transform, as a timestamped Quaternion3 message.
t_out	The transformed quaternion, as a timestamped Quaternion3 message.
transform	The timestamped transform to apply, as a TransformStamped message.

◆ toMsg() [5/10]

geometry_msgs::msg::QuaternionStamped tf2::toMsg ( const geometry_msgs::msg::QuaternionStamped & in )

inline

Trivial "conversion" function for Quaternion message type. This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

in	A QuaternionStamped message.

Returns: The input argument.

◆ fromMsg() [5/10]

void tf2::fromMsg	(	const geometry_msgs::msg::QuaternionStamped &	msg,
		geometry_msgs::msg::QuaternionStamped &	out
	)

inline

Trivial "conversion" function for Quaternion message type. This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

msg	A QuaternionStamped message.
out	The input argument.

◆ toMsg() [6/10]

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

inline

Convert as stamped tf2 Quaternion type to its equivalent geometry_msgs representation. This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

in	A instance of the tf2::Quaternion specialization of the tf2::Stamped template.

Returns: The QuaternionStamped converted to a geometry_msgs QuaternionStamped message type.

◆ fromMsg() [6/10]

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

inline

Convert a QuaternionStamped message to its equivalent tf2 representation. This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

in	A QuaternionStamped message type.
out	The QuaternionStamped converted to the equivalent tf2 type.

◆ toMsg() [7/10]

geometry_msgs::msg::Transform tf2::toMsg ( const tf2::Transform & in )

inline

Convert a tf2 Transform type to its equivalent geometry_msgs representation. This function is a specialization of the toMsg template defined in tf2/convert.h.

Transform

Parameters

in	A tf2 Transform object.

Returns: The Transform converted to a geometry_msgs message type.

◆ fromMsg() [7/10]

void tf2::fromMsg	(	const geometry_msgs::msg::Transform &	in,
		tf2::Transform &	out
	)

inline

Convert a Transform message to its equivalent tf2 representation. This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

in	A Transform message type.
out	The Transform converted to a tf2 type.

◆ getTimestamp() [5/5]

template<>

tf2::TimePoint tf2::getTimestamp ( const geometry_msgs::msg::TransformStamped & t )

inline

Extract a timestamp from the header of a Transform message. This function is a specialization of the getTimestamp template defined in tf2/convert.h.

TransformStamped

Parameters

t	TransformStamped message to extract the timestamp from.

Returns: The timestamp of the message.

◆ getFrameId() [5/5]

template<>

std::string tf2::getFrameId ( const geometry_msgs::msg::TransformStamped & t )

inline

Extract a frame ID from the header of a Transform message. This function is a specialization of the getFrameId template defined in tf2/convert.h.

Parameters

t	TransformStamped message to extract the frame ID from.

Returns: A string containing the frame ID of the message.

◆ doTransform() [5/5]

template<>

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

inline

Apply a geometry_msgs TransformStamped to an geometry_msgs Transform 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 Transform3 message.
t_out	The frame transform, as a timestamped Transform3 message.
transform	The timestamped transform to apply, as a TransformStamped message.

◆ toMsg() [8/10]

geometry_msgs::msg::TransformStamped tf2::toMsg ( const geometry_msgs::msg::TransformStamped & in )

inline

Trivial "conversion" function for Transform message type. This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

in	A TransformStamped message.

Returns: The input argument.

◆ fromMsg() [8/10]

void tf2::fromMsg	(	const geometry_msgs::msg::TransformStamped &	msg,
		geometry_msgs::msg::TransformStamped &	out
	)

inline

Convert a TransformStamped message to its equivalent tf2 representation. This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

msg	A TransformStamped message type.
out	The TransformStamped converted to the equivalent tf2 type.

◆ fromMsg() [9/10]

void tf2::fromMsg	(	const geometry_msgs::msg::TransformStamped &	in,
		tf2::Stamped< tf2::Transform > &	out
	)

inline

Convert a TransformStamped message to its equivalent tf2 representation. This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

msg	A TransformStamped message type.
out	The TransformStamped converted to the equivalent tf2 type.

◆ toMsg() [9/10]

geometry_msgs::msg::TransformStamped tf2::toMsg ( const tf2::Stamped< tf2::Transform > & in )

inline

Convert as stamped tf2 Transform type to its equivalent geometry_msgs representation. This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

in	An instance of the tf2::Transform specialization of the tf2::Stamped template.

Returns: The TransformStamped converted to a geometry_msgs TransformStamped message type.

◆ toMsg() [10/10]

void tf2::toMsg	(	const tf2::Transform &	in,
		geometry_msgs::msg::Pose &	out
	)

inline

Convert a tf2 Transform type to an equivalent geometry_msgs Pose message.

Pose

Parameters

in	A tf2 Transform object.
out	The Transform converted to a geometry_msgs Pose message type. This section is about converting

◆ fromMsg() [10/10]

void tf2::fromMsg	(	const geometry_msgs::msg::Pose &	in,
		tf2::Transform &	out
	)

inline

Convert a geometry_msgs Pose message to an equivalent tf2 Transform type.

Parameters

in	A Pose message.
out	The Pose converted to a tf2 Transform type.

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Detailed Description

Function Documentation

◆ gmTransformToKDL()

◆ getTimestamp() [1/5]

◆ getFrameId() [1/5]

◆ doTransform() [1/5]

◆ toMsg() [1/10]

◆ fromMsg() [1/10]

◆ getTimestamp() [2/5]

◆ getFrameId() [2/5]

◆ doTransform() [2/5]

◆ toMsg() [2/10]

◆ fromMsg() [2/10]

◆ getTimestamp() [3/5]

◆ getFrameId() [3/5]

◆ doTransform() [3/5]

◆ toMsg() [3/10]

◆ fromMsg() [3/10]

◆ toMsg() [4/10]

◆ fromMsg() [4/10]

◆ getTimestamp() [4/5]

◆ getFrameId() [4/5]

◆ doTransform() [4/5]

◆ toMsg() [5/10]

◆ fromMsg() [5/10]

◆ toMsg() [6/10]

◆ fromMsg() [6/10]

◆ toMsg() [7/10]

◆ fromMsg() [7/10]

◆ getTimestamp() [5/5]

◆ getFrameId() [5/5]

◆ doTransform() [5/5]

◆ toMsg() [8/10]

◆ fromMsg() [8/10]

◆ fromMsg() [9/10]

◆ toMsg() [9/10]

◆ toMsg() [10/10]

◆ fromMsg() [10/10]