/usr/include/tf2_bullet/tf2_bullet.h is in libtf2-bullet-dev 0.5.16-4.
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* Copyright (c) 2008, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
/** \author Wim Meeussen */
#ifndef TF2_BULLET_H
#define TF2_BULLET_H
#include <tf2/convert.h>
#include <LinearMath/btTransform.h>
#include <geometry_msgs/PointStamped.h>
namespace tf2
{
/** \brief Convert a timestamped transform to the equivalent Bullet data type.
* \param t The transform to convert, as a geometry_msgs TransformedStamped message.
* \return The transform message converted to a Bullet btTransform.
*/
inline
btTransform transformToBullet(const geometry_msgs::TransformStamped& t)
{
return btTransform(btQuaternion(t.transform.rotation.x, t.transform.rotation.y,
t.transform.rotation.z, t.transform.rotation.w),
btVector3(t.transform.translation.x, t.transform.translation.y, t.transform.translation.z));
}
/** \brief Apply a geometry_msgs TransformStamped to a Bullet-specific Vector3 type.
* This function is a specialization of the doTransform template defined in tf2/convert.h
* \param t_in The vector to transform, as a timestamped Bullet btVector3 data type.
* \param t_out The transformed vector, as a timestamped Bullet btVector3 data type.
* \param transform The timestamped transform to apply, as a TransformStamped message.
*/
template <>
inline
void doTransform(const tf2::Stamped<btVector3>& t_in, tf2::Stamped<btVector3>& t_out, const geometry_msgs::TransformStamped& transform)
{
t_out = tf2::Stamped<btVector3>(transformToBullet(transform) * t_in, transform.header.stamp, transform.header.frame_id);
}
/** \brief Convert a stamped Bullet Vector3 type to a PointStamped message.
* This function is a specialization of the toMsg template defined in tf2/convert.h
* \param in The timestamped Bullet btVector3 to convert.
* \return The vector converted to a PointStamped message.
*/
inline
geometry_msgs::PointStamped toMsg(const tf2::Stamped<btVector3>& in)
{
geometry_msgs::PointStamped msg;
msg.header.stamp = in.stamp_;
msg.header.frame_id = in.frame_id_;
msg.point.x = in[0];
msg.point.y = in[1];
msg.point.z = in[2];
return msg;
}
/** \brief Convert a PointStamped message type to a stamped Bullet-specific Vector3 type.
* This function is a specialization of the fromMsg template defined in tf2/convert.h
* \param msg The PointStamped message to convert.
* \param out The point converted to a timestamped Bullet Vector3.
*/
inline
void fromMsg(const geometry_msgs::PointStamped& msg, tf2::Stamped<btVector3>& out)
{
out.stamp_ = msg.header.stamp;
out.frame_id_ = msg.header.frame_id;
out[0] = msg.point.x;
out[1] = msg.point.y;
out[2] = msg.point.z;
}
/** \brief Apply a geometry_msgs TransformStamped to a Bullet-specific Transform data type.
* This function is a specialization of the doTransform template defined in tf2/convert.h
* \param t_in The frame to transform, as a timestamped Bullet btTransform.
* \param t_out The transformed frame, as a timestamped Bullet btTransform.
* \param transform The timestamped transform to apply, as a TransformStamped message.
*/
template <>
inline
void doTransform(const tf2::Stamped<btTransform>& t_in, tf2::Stamped<btTransform>& t_out, const geometry_msgs::TransformStamped& transform)
{
t_out = tf2::Stamped<btTransform>(transformToBullet(transform) * t_in, transform.header.stamp, transform.header.frame_id);
}
} // namespace
#endif // TF2_BULLET_H
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