/usr/include/tf2/convert.h is in libtf2-dev 0.5.16-4.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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* Copyright (c) 2013, Open Source Robotics Foundation
* 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 Tully Foote */
#ifndef TF2_CONVERT_H
#define TF2_CONVERT_H
#include <tf2/transform_datatypes.h>
#include <tf2/exceptions.h>
#include <geometry_msgs/TransformStamped.h>
#include <tf2/impl/convert.h>
namespace tf2 {
/**\brief The templated function expected to be able to do a transform
*
* This is the method which tf2 will use to try to apply a transform for any given datatype.
* \param data_in The data to be transformed.
* \param data_out A reference to the output data. Note this can point to data in and the method should be mutation safe.
* \param transform The transform to apply to data_in to fill data_out.
*
* This method needs to be implemented by client library developers
*/
template <class T>
void doTransform(const T& data_in, T& data_out, const geometry_msgs::TransformStamped& transform);
/**\brief Get the timestamp from data
* \param t The data input.
* \return The timestamp associated with the data. The lifetime of the returned
* reference is bound to the lifetime of the argument.
*/
template <class T>
const ros::Time& getTimestamp(const T& t);
/**\brief Get the frame_id from data
* \param t The data input.
* \return The frame_id associated with the data. The lifetime of the returned
* reference is bound to the lifetime of the argument.
*/
template <class T>
const std::string& getFrameId(const T& t);
/* An implementation for Stamped<P> datatypes */
template <class P>
const ros::Time& getTimestamp(const tf2::Stamped<P>& t)
{
return t.stamp_;
}
/* An implementation for Stamped<P> datatypes */
template <class P>
const std::string& getFrameId(const tf2::Stamped<P>& t)
{
return t.frame_id_;
}
/** Function that converts from one type to a ROS message type. It has to be
* implemented by each data type in tf2_* (except ROS messages) as it is
* used in the "convert" function.
* \param a an object of whatever type
* \return the conversion as a ROS message
*/
template<typename A, typename B>
B toMsg(const A& a);
/** Function that converts from a ROS message type to another type. It has to be
* implemented by each data type in tf2_* (except ROS messages) as it is used
* in the "convert" function.
* \param a a ROS message to convert from
* \param b the object to convert to
*/
template<typename A, typename B>
void fromMsg(const A&, B& b);
/** Function that converts any type to any type (messages or not).
* Matching toMsg and from Msg conversion functions need to exist.
* If they don't exist or do not apply (for example, if your two
* classes are ROS messages), just write a specialization of the function.
* \param a an object to convert from
* \param b the object to convert to
*/
template <class A, class B>
void convert(const A& a, B& b)
{
//printf("In double type convert\n");
impl::Converter<ros::message_traits::IsMessage<A>::value, ros::message_traits::IsMessage<B>::value>::convert(a, b);
}
template <class A>
void convert(const A& a1, A& a2)
{
//printf("In single type convert\n");
if(&a1 != &a2)
a2 = a1;
}
}
#endif //TF2_CONVERT_H
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