/usr/include/tf_conversions/tf_kdl.h is in libtf-conversions-dev 1.11.7-1.
This file is owned by root:root, with mode 0o644.
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* Copyright (c) 2009, 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.
*/
#ifndef CONVERSIONS_TF_KDL_H
#define CONVERSIONS_TF_KDL_H
#include "kdl_conversions/kdl_msg.h" //backwards compatability for deprecated methods
#include "tf/transform_datatypes.h"
#include "kdl/frames.hpp"
#include <geometry_msgs/Pose.h>
#include <geometry_msgs/Twist.h>
namespace tf
{
/// Converts a tf Pose into a KDL Frame
void poseTFToKDL(const tf::Pose &t, KDL::Frame &k);
/// Converts a KDL Frame into a tf Pose
void poseKDLToTF(const KDL::Frame &k, tf::Pose &t);
/// Converts a tf Quaternion into a KDL Rotation
void quaternionTFToKDL(const tf::Quaternion &t, KDL::Rotation &k);
/// Converts a tf Quaternion into a KDL Rotation
void quaternionKDLToTF(const KDL::Rotation &k, tf::Quaternion &t);
/// Converts a tf Transform into a KDL Frame
void transformTFToKDL(const tf::Transform &t, KDL::Frame &k);
/// Converts a KDL Frame into a tf Transform
void transformKDLToTF(const KDL::Frame &k, tf::Transform &t);
/// Converts a tf Vector3 into a KDL Vector
void vectorTFToKDL(const tf::Vector3 &t, KDL::Vector &k);
/// Converts a tf Vector3 into a KDL Vector
void vectorKDLToTF(const KDL::Vector &k, tf::Vector3 &t);
/* DEPRECATED FUNCTIONS */
/// Starting from a Pose from A to B, apply a Twist with reference frame A and reference point B, during a time t.
geometry_msgs::Pose addDelta(const geometry_msgs::Pose &pose, const geometry_msgs::Twist &twist, const double &t) __attribute__((deprecated));
/// Converts a tf Pose into a KDL Frame
void PoseTFToKDL(const tf::Pose &t, KDL::Frame &k) __attribute__((deprecated));
void inline PoseTFToKDL(const tf::Pose &t, KDL::Frame &k) {poseTFToKDL(t, k);};
/// Converts a KDL Frame into a tf Pose
void PoseKDLToTF(const KDL::Frame &k, tf::Pose &t) __attribute__((deprecated));
void inline PoseKDLToTF(const KDL::Frame &k, tf::Pose &t) {poseKDLToTF(k, t);};
/// Converts a tf Quaternion into a KDL Rotation
void QuaternionTFToKDL(const tf::Quaternion &t, KDL::Rotation &k) __attribute__((deprecated));
void inline QuaternionTFToKDL(const tf::Quaternion &t, KDL::Rotation &k) {quaternionTFToKDL(t, k);};
/// Converts a tf Quaternion into a KDL Rotation
void QuaternionKDLToTF(const KDL::Rotation &k, tf::Quaternion &t) __attribute__((deprecated));
void inline QuaternionKDLToTF(const KDL::Rotation &k, tf::Quaternion &t) {quaternionKDLToTF(k, t);};
/// Converts a tf Transform into a KDL Frame
void TransformTFToKDL(const tf::Transform &t, KDL::Frame &k) __attribute__((deprecated));
void inline TransformTFToKDL(const tf::Transform &t, KDL::Frame &k) {transformTFToKDL(t, k);};
/// Converts a KDL Frame into a tf Transform
void TransformKDLToTF(const KDL::Frame &k, tf::Transform &t) __attribute__((deprecated));
void inline TransformKDLToTF(const KDL::Frame &k, tf::Transform &t) {transformKDLToTF(k, t);};
/// Converts a tf Vector3 into a KDL Vector
void VectorTFToKDL(const tf::Vector3 &t, KDL::Vector &k) __attribute__((deprecated));
void inline VectorTFToKDL(const tf::Vector3 &t, KDL::Vector &k) {vectorTFToKDL(t, k);};
/// Converts a tf Vector3 into a KDL Vector
void VectorKDLToTF(const KDL::Vector &k, tf::Vector3 &t) __attribute__((deprecated));
void inline VectorKDLToTF(const KDL::Vector &k, tf::Vector3 &t) {vectorKDLToTF(k, t);};
} // namespace tf
#endif
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