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Merged pcl_integration branch to trunk

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1014 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2013-12-11 00:12:44 +00:00
parent af3a099986
commit 6c008429b9
131 changed files with 4946 additions and 344 deletions
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rtabmap/include/rtabmap/MsgConversion.h
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/*
* MsgConversion.h
*
* Created on: 2013-10-23
* Author: mathieu
*/
#ifndef MSGCONVERSION_H_
#define MSGCONVERSION_H_
#include <tf/LinearMath/Transform.h>
#include <geometry_msgs/Transform.h>
#include <geometry_msgs/Pose.h>
#include <rtabmap/core/Transform.h>
namespace rtabmap {
void transformToTF(const rtabmap::Transform & transform, tf::Transform & tfTransform);
rtabmap::Transform transformFromTF(const tf::Transform & transform);
void transformToGeometryMsg(const rtabmap::Transform & transform, geometry_msgs::Transform & msg);
rtabmap::Transform transformFromGeometryMsg(const geometry_msgs::Transform & msg);
void transformToPoseMsg(const rtabmap::Transform & transform, geometry_msgs::Pose & msg);
rtabmap::Transform transformFromPoseMsg(const geometry_msgs::Pose & msg);
}
#endif /* MSGCONVERSION_H_ */