/usr/include/kdl_conversions/kdl_msg.h is in libtf-conversions-dev 1.11.8-4.
This file is owned by root:root, with mode 0o644.
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* Copyright (c) 2012, 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: Adam Leeper
*/
#ifndef CONVERSIONS_KDL_MSG_H
#define CONVERSIONS_KDL_MSG_H
#include "kdl/frames.hpp"
#include <geometry_msgs/Point.h>
#include <geometry_msgs/Pose.h>
#include <geometry_msgs/Quaternion.h>
#include <geometry_msgs/Transform.h>
#include <geometry_msgs/Twist.h>
#include <geometry_msgs/Vector3.h>
#include <geometry_msgs/Wrench.h>
namespace tf {
/// Conversion functions from/to the corresponding KDL and geometry_msgs types.
/// Converts a geometry_msgs Point into a KDL Vector
void pointMsgToKDL(const geometry_msgs::Point &m, KDL::Vector &k);
/// Converts a KDL Vector into a geometry_msgs Vector3
void pointKDLToMsg(const KDL::Vector &k, geometry_msgs::Point &m);
/// Converts a Pose message into a KDL Frame
void poseMsgToKDL(const geometry_msgs::Pose &m, KDL::Frame &k);
/// Converts a KDL Frame into a Pose message
void poseKDLToMsg(const KDL::Frame &k, geometry_msgs::Pose &m);
/// Converts a quaternion message into a KDL Rotation
void quaternionMsgToKDL(const geometry_msgs::Quaternion &m, KDL::Rotation &k);
/// Converts a KDL Rotation into a message quaternion
void quaternionKDLToMsg(const KDL::Rotation &k, geometry_msgs::Quaternion &m);
/// Converts a Transform message into a KDL Frame
void transformMsgToKDL(const geometry_msgs::Transform &m, KDL::Frame &k);
/// Converts a KDL Frame into a Transform message
void transformKDLToMsg(const KDL::Frame &k, geometry_msgs::Transform &m);
/// Converts a Twist message into a KDL Twist
void twistMsgToKDL(const geometry_msgs::Twist &m, KDL::Twist &k);
/// Converts a KDL Twist into a Twist message
void twistKDLToMsg(const KDL::Twist &k, geometry_msgs::Twist &m);
/// Converts a Vector3 message into a KDL Vector
void vectorMsgToKDL(const geometry_msgs::Vector3 &m, KDL::Vector &k);
/// Converts a KDL Vector into a Vector3 message
void vectorKDLToMsg(const KDL::Vector &k, geometry_msgs::Vector3 &m);
/// Converts a Wrench message into a KDL Wrench
void wrenchMsgToKDL(const geometry_msgs::Wrench &m, KDL::Wrench &k);
/// Converts a KDL Wrench into a Wrench message
void wrenchKDLToMsg(const KDL::Wrench &k, geometry_msgs::Wrench &m);
//Deprecated methods use above:
/// Converts a Pose message into a KDL Frame
void PoseMsgToKDL(const geometry_msgs::Pose &m, KDL::Frame &k)__attribute__((deprecated));
/// Converts a KDL Frame into a Pose message
void PoseKDLToMsg(const KDL::Frame &k, geometry_msgs::Pose &m) __attribute__((deprecated));
/// Converts a Twist message into a KDL Twist
void TwistMsgToKDL(const geometry_msgs::Twist &m, KDL::Twist &k) __attribute__((deprecated));
/// Converts a KDL Twist into a Twist message
void TwistKDLToMsg(const KDL::Twist &k, geometry_msgs::Twist &m) __attribute__((deprecated));
}
#endif
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