/usr/include/tf2/utils.h is in libtf2-dev 0.5.12-2.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 | // Copyright 2014 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef TF2_UTILS_H
#define TF2_UTILS_H
#include <tf2/LinearMath/Transform.h>
#include <tf2/LinearMath/Quaternion.h>
#include <tf2/impl/utils.h>
namespace tf2 {
/** Return the yaw, pitch, roll of anything that can be converted to a tf2::Quaternion
* The conventions are the usual ROS ones defined in tf2/LineMath/Matrix3x3.h
* \param a the object to get data from (it represents a rotation/quaternion)
* \param yaw yaw
* \param pitch pitch
* \param roll roll
*/
template <class A>
void getEulerYPR(const A& a, double& yaw, double& pitch, double& roll)
{
tf2::Quaternion q = impl::toQuaternion(a);
impl::getEulerYPR(q, yaw, pitch, roll);
}
/** Return the yaw of anything that can be converted to a tf2::Quaternion
* The conventions are the usual ROS ones defined in tf2/LineMath/Matrix3x3.h
* This function is a specialization of getEulerYPR and is useful for its
* wide-spread use in navigation
* \param a the object to get data from (it represents a rotation/quaternion)
* \param yaw yaw
*/
template <class A>
double getYaw(const A& a)
{
tf2::Quaternion q = impl::toQuaternion(a);
return impl::getYaw(q);
}
/** Return the identity for any type that can be converted to a tf2::Transform
* \return an object of class A that is an identity transform
*/
template <class A>
A getTransformIdentity()
{
tf2::Transform t;
t.setIdentity();
A a;
convert(t, a);
return a;
}
}
#endif //TF2_UTILS_H
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