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30 lines
834 B
C++
30 lines
834 B
C++
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/*
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* MsgConversion.h
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*
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* Created on: 2013-10-23
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* Author: mathieu
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*/
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#ifndef MSGCONVERSION_H_
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#define MSGCONVERSION_H_
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#include <tf/LinearMath/Transform.h>
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#include <geometry_msgs/Transform.h>
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#include <geometry_msgs/Pose.h>
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#include <rtabmap/core/Transform.h>
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namespace rtabmap {
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void transformToTF(const rtabmap::Transform & transform, tf::Transform & tfTransform);
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rtabmap::Transform transformFromTF(const tf::Transform & transform);
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void transformToGeometryMsg(const rtabmap::Transform & transform, geometry_msgs::Transform & msg);
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rtabmap::Transform transformFromGeometryMsg(const geometry_msgs::Transform & msg);
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void transformToPoseMsg(const rtabmap::Transform & transform, geometry_msgs::Pose & msg);
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rtabmap::Transform transformFromPoseMsg(const geometry_msgs::Pose & msg);
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}
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#endif /* MSGCONVERSION_H_ */
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