tf2_manif
tf2
to/from manif
data structures.
A conversion package to convert Package Summary
- Maintainer status: maintained
- Maintainer: Jeremie Deray deray.jeremie@gmail.com
- Author: Jeremie Deray deray.jeremie@gmail.com
- License: MIT
- Bug / feature tracker: https://github.com/artivis/tf2_manif/issues
- Source: git https://github.com/artivis/tf2_manif.git (branch: master)
Quick Start
From source
$ git clone https://github.com/artivis/tf2_manif.git
$ catkin build
Some more details about the package
For more information about the manif
library please follow this link.
Supported datatype:
ROS message type | manif datatype | Transform function |
---|---|---|
geometry_msgs::Vector3 | Eigen::Vector3d | void doTransform(const Eigen::Vector3d& t_in, Eigen::Vector3d& t_out, const geometry_msgs::Transform& transform) |
geometry_msgs::Quaternion | manif::SO3d | void doTransform(const manif::SO3d& t_in, manif::SO3d& t_out, const geometry_msgs::Transform& transform) |
geometry_msgs::Pose | manif::SE3d | void doTransform(const manif::SE3d& t_in, manif::SE3d& t_out, const geometry_msgs::Transform& transform) |
geometry_msgs::Twist | manif::SE3Tangentd | Not available atm : see here |