/** \brief Transform a Stamped Quaternion Message into the target frame
* This can throw all that lookupTransform can throw as well as tf::InvalidTransform */
void transformQuaternion(const std::string& target_frame, const geometry_msgs::QuaternionStamped& stamped_in, geometry_msgs::QuaternionStamped& stamped_out) const;
/** \brief Transform a Stamped Vector Message into the target frame
* This can throw all that lookupTransform can throw as well as tf::InvalidTransform */
void transformVector(const std::string& target_frame, const geometry_msgs::Vector3Stamped& stamped_in, geometry_msgs::Vector3Stamped& stamped_out) const;
/** \brief Transform a Stamped Point Message into the target frame
* This can throw all that lookupTransform can throw as well as tf::InvalidTransform */
void transformPoint(const std::string& target_frame, const geometry_msgs::PointStamped& stamped_in, geometry_msgs::PointStamped& stamped_out) const;
/** \brief Transform a Stamped Pose Message into the target frame
* This can throw all that lookupTransform can throw as well as tf::InvalidTransform */
void transformPose(const std::string& target_frame, const geometry_msgs::PoseStamped& stamped_in, geometry_msgs::PoseStamped& stamped_out) const;
/* \brief Transform a Stamped Twist Message into the target frame
* This can throw all that lookupTransform can throw as well as tf::InvalidTransform */
// http://www.ros.org/wiki/tf/Reviews/2010-03-12_API_Review
// void transformTwist(const std::string& target_frame, const geometry_msgs::TwistStamped& stamped_in, geometry_msgs::TwistStamped& stamped_out) const;
/** \brief Transform a Stamped Quaternion Message into the target frame
* This can throw all that lookupTransform can throw as well as tf::InvalidTransform */
void transformQuaternion(const std::string& target_frame, const ros::Time& target_time,
const geometry_msgs::QuaternionStamped& qin,
const std::string& fixed_frame, geometry_msgs::QuaternionStamped& qout) const;
/** \brief Transform a Stamped Vector Message into the target frame and time
* This can throw all that lookupTransform can throw as well as tf::InvalidTransform */
void transformVector(const std::string& target_frame, const ros::Time& target_time,
const geometry_msgs::Vector3Stamped& vin,
const std::string& fixed_frame, geometry_msgs::Vector3Stamped& vout) const;
/** \brief Transform a Stamped Point Message into the target frame and time
* This can throw all that lookupTransform can throw as well as tf::InvalidTransform */
void transformPoint(const std::string& target_frame, const ros::Time& target_time,
const geometry_msgs::PointStamped& pin,
const std::string& fixed_frame, geometry_msgs::PointStamped& pout) const;
/** \brief Transform a Stamped Pose Message into the target frame and time
* This can throw all that lookupTransform can throw as well as tf::InvalidTransform */
void transformPose(const std::string& target_frame, const ros::Time& target_time,
const geometry_msgs::PoseStamped& pin,
const std::string& fixed_frame, geometry_msgs::PoseStamped& pout) const;
/** \brief Transform a sensor_msgs::PointCloud natively
* This can throw all that lookupTransform can throw as well as tf::InvalidTransform */
void transformPointCloud(const std::string& target_frame, const sensor_msgs::PointCloud& pcin, sensor_msgs::PointCloud& pcout) const;
/** @brief Transform a sensor_msgs::PointCloud in space and time
* This can throw all that lookupTransform can throw as well as tf::InvalidTransform */
void transformPointCloud(const std::string& target_frame, const ros::Time& target_time,
const sensor_msgs::PointCloud& pcin,
const std::string& fixed_frame, sensor_msgs::PointCloud& pcout) const;
bfjelds
commented
6 years ago
ROS2 implementation (found here: https://github.com/ros2/geometry2/blob/ros2/tf2_ros/include/tf2_ros/transform_listener.h) lacks most functionality (found looking at ROS version here: https://raw.githubusercontent.com/ros/geometry/indigo-devel/tf/include/tf/transform_listener.h):