No version for distro humble. Known supported distros are highlighted in the buttons above.

tf2_2d package from tf2_2d repo

tf2_2d

Package Summary

Tags	No category tags.
Version	1.2.0
License	BSD
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/locusrobotics/tf2_2d.git
VCS Type	git
VCS Version	rolling
Last Updated	2024-12-05
Dev Status	MAINTAINED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

A set of 2D geometry classes modeled after the 3D geometry classes in tf2.

Additional Links

No additional links.

Maintainers

Stephen Williams

Authors

Stephen Williams

README.md

tf2_2d

A set of 2D geometry classes modeled after the 3D geometry classes in tf2.

Using tf2 toMsg() and fromMsg()

I’ve tried to include fromMsg() implementations for anything that remotely makes sense. The tf2 toMsg() signature does limit its use to a single output type, so I’ve had to make a guess as to the most useful variation there.

For example:

#include <tf2_2d/tf2_2d.h>     // This header includes the tf2 conversion functions
#include <tf2_2d/transform.h>  // Then include what you use

// Convert a tf2_2d object into a 3D message
auto transform_2d = tf2_2d::Transform(1.0, 1.5, 2.0);
geometry_msgs::Transform transform_3d_msg = tf2::toMsg(transform_2d);

// Convert a 3D message into a 2D tf2_2d object
geometry_msgs::Transform transform_3d_msg;
tf2_2d::Transform transform_2d;
tf2::fromMsg(transform_3d_msg, transform_2d);

// You can do Stamped<> things as well
auto transform_2d = tf2::Stamped<tf2_2d::Transform>(tf2_2d::Transform(1.0, 1.5, 2.0), ros::Time(1.2), "frame");
geometry_msgs::TransformStamped transform_3d_msg = tf2::toMsg(transform_2d);

Conversion of Points and Quaternions are also supported, as are conversions to other datatypes that are handled by tf2’s conversion system.

Transformation math

The tf2_2d types also implement all of the expected transformation math.

auto v1 = tf2_2d::Vector2(1.0, 2.0);
auto v2 = tf2_2d::Vector2(1.5, 2.5);
auto v3 = v1 + v2;                             // v3 == (2.5, 4.5)

tf2_2d::Rotation r1(M_PI);
auto v4 = r1.rotate(v1);                       // v4 == (-2.0, 1.0)

auto t1 = tf2_2d::Transform(1.0, 2.0, 3.0);
auto t2 = tf2_2d::Transform(-2.0, -1.0, -1.5);
auto t3 = t1 * t2;                             // t3 == (3.12, 2.70, 1.5)

auto t4 = tf2_2d::Transform(1.0, 2.0, 3.0);
auto t5 = tf2_2d::Transform(-2.0, -1.0, -1.5);
auto t6 = t4.inverseTimes(t5);                 // t6 == (2.54, 3.39, 1.78)

The tf2_2d::Rotation class deserves a few additional notes. The angle stored in a Rotation object is always within the (-Pi, Pi] range. You can construct a Rotation object with any floating point value, but it will be wrapped to that range. You can also perform arithmetic with the angles, without worrying about wrapping issues.

tf2_2d::Rotation r1(1.0);
auto r2 = 17.0 * r1;       // r2.angle() == -1.84956

tf2_2d::Rotation r3(1.0);
tf2_2d::Rotation r4(3.0);
auto r5 = r3 + r4;         // r5.angle() == -2.28319

tf2_2d::Rotation r6(-3.0);
tf2_2d::Rotation r7(1.0);
auto r8 = r6 - r7;         // r8.angle() == 2.28319

Additionally, the tf2_td::Rotation class caches the sin/cos results needed to perform rotations. So, once a Rotation object is used to rotate something, the trig functions will never be evaluated again. And the cached sin/cos values will propagate to any derived objects that it can. This includes the Rotation object built into a Transform.

tf2_2d::Vector2 v1(1.0, 2.0);
tf2_2d::Rotation r1(1.0);            // No sin/cos calls have been made, since it is not needed yet
auto v2 = r1.rotate(v1);             // Computes sin/cos and remembers it
auto v3 = r1.unrotate(v2);           // Does not need to compute sin/cos again
tf2_2d::Rotation r2 = r1;            // Transfers sin/cos to r2
auto v4 = r2.rotate(v1);             // Does not need to compute sin/cos because it stole the cached values from r1
tf2_2d::Rotation r3 = r1.inverse();  // Inverts and transfers sin/cos to r3
auto v5 = r3.rotate(v1);             // Does not need to compute sin/cos because it stole the cached values from r1

CHANGELOG

Changelog for package tf2_2d

1.2.0 (2024-09-16)

1.1.0 (2024-06-17)

Exporting boost dependency (#7)
- Exporting Boost and Eigen dependencies
Tailor: Updating Jenkinsfile
Contributors: Tom Moore, locus-services

1.0.1 (2023-03-03)

Port tf2_2d to ROS 2 (#5)
- Build sytem changes for ROS 2
- Code changes for ROS 2
- Don't need int main(); because linking to GTEST_MAIN_LIBRARIES
- Skip ament_cmake_copyright
- Move .h headers to .hpp
- Add .h headers with warning for backwards compatability
- Linter fixes: Satisfy Uncrustify
- Linter fixes: Satisfy cpplint
- Minimum CMake 3.14.4
- ${tf2_geometry_msgs_TARGETS} -> tf2_geometry_msgs::tf2_geometry_msgs
- Bump copywrite date on redirection headers
- Remove Scalar.h include
Tailor: Updating Jenkinsfile
Tailor: Updating Jenkinsfile
Tailor: Updating Jenkinsfile
Contributors: Shane Loretz, locus-services

0.6.4 (2021-07-14)

Handling issue with tf2 circular dependency (#4)
- Handling issue with tf2 circular dependency and other warnings
Contributors: Tom Moore

0.6.3 (2021-07-13)

Fixing package license
Contributors: Tom Moore

0.6.2 (2021-07-12)

Fix test build issue in noetic
Contributors: Tom Moore

0.6.1 (2021-07-11)

Contributors: locus-services

0.6.0 (2020-10-02)

Contributors: locus-services

0.5.0 (2019-07-12)

License cleanup (#3)
Contributors: Stephen Williams, locus-services

0.4.0 (2019-03-18)

Contributors: locus-services

0.3.0 (2019-01-16)

[RST-1548] transform covariance (#2)
- Added conversions to Eigen types
- Added stream operators
- Added some additional toMsg conversions using a non-tf2-standard signature
- Added functions to transform SE2 covariance matrices
Tailor: Creating Jenkinsfile
Expanded readme
Renamed the Transform rotation value to 'yaw'
Moved into separate repo
Contributors: Stephen Williams, locus-services

0.2.0 (2018-04-16)

Adding tf_2d constructor overload from a standard tf transform
Contributors: Stephen Williams, Tom Moore

0.1.0 (2018-02-14)

Small trig cache optimization in the 'unrotate()' function
Added 2D geometry classes (vector, rotation, transform) and conversion functions in the style of the tf2 3D geometry classes
Contributors: Stephen Williams

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	rclcpp
	tf2
	tf2_geometry_msgs
	tf2_ros

System Dependencies

Name
libboost-dev
eigen

Dependant Packages

Name	Deps
fuse_models

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `tf2_2d` at Robotics Stack Exchange

API Docs Browse Code Wiki

tf2_2d package from tf2_2d repo

tf2_2d

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	1.2.0
License	BSD
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/locusrobotics/tf2_2d.git
VCS Type	git
VCS Version	rolling
Last Updated	2024-12-05
Dev Status	MAINTAINED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

A set of 2D geometry classes modeled after the 3D geometry classes in tf2.

Additional Links

No additional links.

Maintainers

Stephen Williams

Authors

Stephen Williams

README.md

tf2_2d

A set of 2D geometry classes modeled after the 3D geometry classes in tf2.

Using tf2 toMsg() and fromMsg()

I’ve tried to include fromMsg() implementations for anything that remotely makes sense. The tf2 toMsg() signature does limit its use to a single output type, so I’ve had to make a guess as to the most useful variation there.

For example:

#include <tf2_2d/tf2_2d.h>     // This header includes the tf2 conversion functions
#include <tf2_2d/transform.h>  // Then include what you use

// Convert a tf2_2d object into a 3D message
auto transform_2d = tf2_2d::Transform(1.0, 1.5, 2.0);
geometry_msgs::Transform transform_3d_msg = tf2::toMsg(transform_2d);

// Convert a 3D message into a 2D tf2_2d object
geometry_msgs::Transform transform_3d_msg;
tf2_2d::Transform transform_2d;
tf2::fromMsg(transform_3d_msg, transform_2d);

// You can do Stamped<> things as well
auto transform_2d = tf2::Stamped<tf2_2d::Transform>(tf2_2d::Transform(1.0, 1.5, 2.0), ros::Time(1.2), "frame");
geometry_msgs::TransformStamped transform_3d_msg = tf2::toMsg(transform_2d);

Conversion of Points and Quaternions are also supported, as are conversions to other datatypes that are handled by tf2’s conversion system.

Transformation math

The tf2_2d types also implement all of the expected transformation math.

auto v1 = tf2_2d::Vector2(1.0, 2.0);
auto v2 = tf2_2d::Vector2(1.5, 2.5);
auto v3 = v1 + v2;                             // v3 == (2.5, 4.5)

tf2_2d::Rotation r1(M_PI);
auto v4 = r1.rotate(v1);                       // v4 == (-2.0, 1.0)

auto t1 = tf2_2d::Transform(1.0, 2.0, 3.0);
auto t2 = tf2_2d::Transform(-2.0, -1.0, -1.5);
auto t3 = t1 * t2;                             // t3 == (3.12, 2.70, 1.5)

auto t4 = tf2_2d::Transform(1.0, 2.0, 3.0);
auto t5 = tf2_2d::Transform(-2.0, -1.0, -1.5);
auto t6 = t4.inverseTimes(t5);                 // t6 == (2.54, 3.39, 1.78)

The tf2_2d::Rotation class deserves a few additional notes. The angle stored in a Rotation object is always within the (-Pi, Pi] range. You can construct a Rotation object with any floating point value, but it will be wrapped to that range. You can also perform arithmetic with the angles, without worrying about wrapping issues.

tf2_2d::Rotation r1(1.0);
auto r2 = 17.0 * r1;       // r2.angle() == -1.84956

tf2_2d::Rotation r3(1.0);
tf2_2d::Rotation r4(3.0);
auto r5 = r3 + r4;         // r5.angle() == -2.28319

tf2_2d::Rotation r6(-3.0);
tf2_2d::Rotation r7(1.0);
auto r8 = r6 - r7;         // r8.angle() == 2.28319

Additionally, the tf2_td::Rotation class caches the sin/cos results needed to perform rotations. So, once a Rotation object is used to rotate something, the trig functions will never be evaluated again. And the cached sin/cos values will propagate to any derived objects that it can. This includes the Rotation object built into a Transform.

tf2_2d::Vector2 v1(1.0, 2.0);
tf2_2d::Rotation r1(1.0);            // No sin/cos calls have been made, since it is not needed yet
auto v2 = r1.rotate(v1);             // Computes sin/cos and remembers it
auto v3 = r1.unrotate(v2);           // Does not need to compute sin/cos again
tf2_2d::Rotation r2 = r1;            // Transfers sin/cos to r2
auto v4 = r2.rotate(v1);             // Does not need to compute sin/cos because it stole the cached values from r1
tf2_2d::Rotation r3 = r1.inverse();  // Inverts and transfers sin/cos to r3
auto v5 = r3.rotate(v1);             // Does not need to compute sin/cos because it stole the cached values from r1

CHANGELOG

Changelog for package tf2_2d

1.2.0 (2024-09-16)

1.1.0 (2024-06-17)

Exporting boost dependency (#7)
- Exporting Boost and Eigen dependencies
Tailor: Updating Jenkinsfile
Contributors: Tom Moore, locus-services

1.0.1 (2023-03-03)

Port tf2_2d to ROS 2 (#5)
- Build sytem changes for ROS 2
- Code changes for ROS 2
- Don't need int main(); because linking to GTEST_MAIN_LIBRARIES
- Skip ament_cmake_copyright
- Move .h headers to .hpp
- Add .h headers with warning for backwards compatability
- Linter fixes: Satisfy Uncrustify
- Linter fixes: Satisfy cpplint
- Minimum CMake 3.14.4
- ${tf2_geometry_msgs_TARGETS} -> tf2_geometry_msgs::tf2_geometry_msgs
- Bump copywrite date on redirection headers
- Remove Scalar.h include
Tailor: Updating Jenkinsfile
Tailor: Updating Jenkinsfile
Tailor: Updating Jenkinsfile
Contributors: Shane Loretz, locus-services

0.6.4 (2021-07-14)

Handling issue with tf2 circular dependency (#4)
- Handling issue with tf2 circular dependency and other warnings
Contributors: Tom Moore

0.6.3 (2021-07-13)

Fixing package license
Contributors: Tom Moore

0.6.2 (2021-07-12)

Fix test build issue in noetic
Contributors: Tom Moore

0.6.1 (2021-07-11)

Contributors: locus-services

0.6.0 (2020-10-02)

Contributors: locus-services

0.5.0 (2019-07-12)

License cleanup (#3)
Contributors: Stephen Williams, locus-services

0.4.0 (2019-03-18)

Contributors: locus-services

0.3.0 (2019-01-16)

[RST-1548] transform covariance (#2)
- Added conversions to Eigen types
- Added stream operators
- Added some additional toMsg conversions using a non-tf2-standard signature
- Added functions to transform SE2 covariance matrices
Tailor: Creating Jenkinsfile
Expanded readme
Renamed the Transform rotation value to 'yaw'
Moved into separate repo
Contributors: Stephen Williams, locus-services

0.2.0 (2018-04-16)

Adding tf_2d constructor overload from a standard tf transform
Contributors: Stephen Williams, Tom Moore

0.1.0 (2018-02-14)

Small trig cache optimization in the 'unrotate()' function
Added 2D geometry classes (vector, rotation, transform) and conversion functions in the style of the tf2 3D geometry classes
Contributors: Stephen Williams

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	rclcpp
	tf2
	tf2_geometry_msgs
	tf2_ros

System Dependencies

Name
libboost-dev
eigen

Dependant Packages

Name	Deps
fuse_models

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `tf2_2d` at Robotics Stack Exchange

API Docs Browse Code Wiki

tf2_2d package from tf2_2d repo

tf2_2d

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	0.12.0
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/locusrobotics/tf2_2d.git
VCS Type	git
VCS Version	devel
Last Updated	2024-12-05
Dev Status	MAINTAINED
CI status	Latest build history: Fri, 02 Feb 2024 19:10:07 GMT (last 5 of 10 builds) #14 02-Feb-2024 19:05 75 / 75 #13 27-Dec-2023 23:05 75 / 75 #12 21-Oct-2023 02:05 75 / 75 #11 28-Sep-2023 00:05 75 / 75 #10 30-Aug-2023 20:05 75 / 75
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

A set of 2D geometry classes modeled after the 3D geometry classes in tf2.

Additional Links

No additional links.

Maintainers

Stephen Williams

Authors

Stephen Williams

README.md

tf2_2d

A set of 2D geometry classes modeled after the 3D geometry classes in tf2.

Using tf2 toMsg() and fromMsg()

I’ve tried to include fromMsg() implementations for anything that remotely makes sense. The tf2 toMsg() signature does limit its use to a single output type, so I’ve had to make a guess as to the most useful variation there.

For example:

#include <tf2_2d/tf2_2d.h>     // This header includes the tf2 conversion functions
#include <tf2_2d/transform.h>  // Then include what you use

// Convert a tf2_2d object into a 3D message
auto transform_2d = tf2_2d::Transform(1.0, 1.5, 2.0);
geometry_msgs::Transform transform_3d_msg = tf2::toMsg(transform_2d);

// Convert a 3D message into a 2D tf2_2d object
geometry_msgs::Transform transform_3d_msg;
tf2_2d::Transform transform_2d;
tf2::fromMsg(transform_3d_msg, transform_2d);

// You can do Stamped<> things as well
auto transform_2d = tf2::Stamped<tf2_2d::Transform>(tf2_2d::Transform(1.0, 1.5, 2.0), ros::Time(1.2), "frame");
geometry_msgs::TransformStamped transform_3d_msg = tf2::toMsg(transform_2d);

Conversion of Points and Quaternions are also supported, as are conversions to other datatypes that are handled by tf2’s conversion system.

Transformation math

The tf2_2d types also implement all of the expected transformation math.

auto v1 = tf2_2d::Vector2(1.0, 2.0);
auto v2 = tf2_2d::Vector2(1.5, 2.5);
auto v3 = v1 + v2;                             // v3 == (2.5, 4.5)

tf2_2d::Rotation r1(M_PI);
auto v4 = r1.rotate(v1);                       // v4 == (-2.0, 1.0)

auto t1 = tf2_2d::Transform(1.0, 2.0, 3.0);
auto t2 = tf2_2d::Transform(-2.0, -1.0, -1.5);
auto t3 = t1 * t2;                             // t3 == (3.12, 2.70, 1.5)

auto t4 = tf2_2d::Transform(1.0, 2.0, 3.0);
auto t5 = tf2_2d::Transform(-2.0, -1.0, -1.5);
auto t6 = t4.inverseTimes(t5);                 // t6 == (2.54, 3.39, 1.78)

The tf2_2d::Rotation class deserves a few additional notes. The angle stored in a Rotation object is always within the (-Pi, Pi] range. You can construct a Rotation object with any floating point value, but it will be wrapped to that range. You can also perform arithmetic with the angles, without worrying about wrapping issues.

tf2_2d::Rotation r1(1.0);
auto r2 = 17.0 * r1;       // r2.angle() == -1.84956

tf2_2d::Rotation r3(1.0);
tf2_2d::Rotation r4(3.0);
auto r5 = r3 + r4;         // r5.angle() == -2.28319

tf2_2d::Rotation r6(-3.0);
tf2_2d::Rotation r7(1.0);
auto r8 = r6 - r7;         // r8.angle() == 2.28319

Additionally, the tf2_td::Rotation class caches the sin/cos results needed to perform rotations. So, once a Rotation object is used to rotate something, the trig functions will never be evaluated again. And the cached sin/cos values will propagate to any derived objects that it can. This includes the Rotation object built into a Transform.

tf2_2d::Vector2 v1(1.0, 2.0);
tf2_2d::Rotation r1(1.0);            // No sin/cos calls have been made, since it is not needed yet
auto v2 = r1.rotate(v1);             // Computes sin/cos and remembers it
auto v3 = r1.unrotate(v2);           // Does not need to compute sin/cos again
tf2_2d::Rotation r2 = r1;            // Transfers sin/cos to r2
auto v4 = r2.rotate(v1);             // Does not need to compute sin/cos because it stole the cached values from r1
tf2_2d::Rotation r3 = r1.inverse();  // Inverts and transfers sin/cos to r3
auto v5 = r3.rotate(v1);             // Does not need to compute sin/cos because it stole the cached values from r1

CHANGELOG

Changelog for package tf2_2d

0.7.0 (2022-02-23)

Tailor: Updating Jenkinsfile
Tailor: Updating Jenkinsfile
Tailor: Updating Jenkinsfile
Tailor: Updating Jenkinsfile
Tailor: Updating Jenkinsfile
Tailor: Updating Jenkinsfile
Tailor: Updating Jenkinsfile
Tailor: Updating Jenkinsfile
Tailor: Updating Jenkinsfile
Tailor: Updating Jenkinsfile
Tailor: Updating Jenkinsfile
Contributors: locus-services

0.8.0 (2023-02-22)

0.7.0
Update changelogs
Tailor: Updating Jenkinsfile
Tailor: Updating Jenkinsfile
Tailor: Updating Jenkinsfile
Tailor: Updating Jenkinsfile
Contributors: Gary Servin, locus-services

0.9.0 (2023-09-25)

Tailor: Updating Jenkinsfile
Tailor: Updating Jenkinsfile
Tailor: Updating Jenkinsfile
Tailor: Updating Jenkinsfile
0.8.0
Update changelogs
0.7.0
Update changelogs
Tailor: Updating Jenkinsfile
Tailor: Updating Jenkinsfile
Tailor: Updating Jenkinsfile
Contributors: Gary Servin, locus-services

0.12.0 (2024-09-16)

Fixing issue with Eigen in Ubuntu Jammy on ARM (#8)
- Fixing issue with Eigen in Ubuntu Jammy on ARM
Contributors: Tom Moore

0.11.0 (2024-06-17)

0.10.0 (2024-02-02)

Tailor: Updating Jenkinsfile
Tailor: Updating Jenkinsfile
0.9.0
Update changelogs
Tailor: Updating Jenkinsfile
Tailor: Updating Jenkinsfile
Tailor: Updating Jenkinsfile
0.8.0
Update changelogs
0.7.0
Update changelogs
Tailor: Updating Jenkinsfile
Tailor: Updating Jenkinsfile
Tailor: Updating Jenkinsfile
Contributors: Gary Servin, locus-services

0.6.4 (2021-07-14)

Handling issue with tf2 circular dependency (#4)
- Handling issue with tf2 circular dependency and other warnings
Contributors: Tom Moore

0.6.3 (2021-07-13)

Fixing package license
Contributors: Tom Moore

0.6.2 (2021-07-12)

Fix test build issue in noetic
Contributors: Tom Moore

0.6.1 (2021-07-11)

Contributors: locus-services

0.6.0 (2020-10-02)

Contributors: locus-services

0.5.0 (2019-07-12)

License cleanup (#3)
Contributors: Stephen Williams, locus-services

0.4.0 (2019-03-18)

Contributors: locus-services

0.3.0 (2019-01-16)

[RST-1548] transform covariance (#2)
- Added conversions to Eigen types
- Added stream operators
- Added some additional toMsg conversions using a non-tf2-standard signature
- Added functions to transform SE2 covariance matrices
Tailor: Creating Jenkinsfile
Expanded readme
Renamed the Transform rotation value to 'yaw'
Moved into separate repo
Contributors: Stephen Williams, locus-services

0.2.0 (2018-04-16)

Adding tf_2d constructor overload from a standard tf transform
Contributors: Stephen Williams, Tom Moore

0.1.0 (2018-02-14)

Small trig cache optimization in the 'unrotate()' function
Added 2D geometry classes (vector, rotation, transform) and conversion functions in the style of the tf2 3D geometry classes
Contributors: Stephen Williams

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	catkin
	roslint
	roscpp
	tf2
	tf2_geometry_msgs

System Dependencies

Name
eigen

Dependant Packages

Name	Deps
fuse_models

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `tf2_2d` at Robotics Stack Exchange

API Docs Browse Code Wiki

No version for distro ardent. Known supported distros are highlighted in the buttons above.

No version for distro bouncy. Known supported distros are highlighted in the buttons above.

No version for distro crystal. Known supported distros are highlighted in the buttons above.

No version for distro eloquent. Known supported distros are highlighted in the buttons above.

No version for distro dashing. Known supported distros are highlighted in the buttons above.

No version for distro galactic. Known supported distros are highlighted in the buttons above.

No version for distro foxy. Known supported distros are highlighted in the buttons above.

tf2_2d package from tf2_2d repo

tf2_2d

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	1.2.0
License	BSD
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/locusrobotics/tf2_2d.git
VCS Type	git
VCS Version	rolling
Last Updated	2024-12-05
Dev Status	MAINTAINED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

A set of 2D geometry classes modeled after the 3D geometry classes in tf2.

Additional Links

No additional links.

Maintainers

Stephen Williams

Authors

Stephen Williams

README.md

tf2_2d

A set of 2D geometry classes modeled after the 3D geometry classes in tf2.

Using tf2 toMsg() and fromMsg()

I’ve tried to include fromMsg() implementations for anything that remotely makes sense. The tf2 toMsg() signature does limit its use to a single output type, so I’ve had to make a guess as to the most useful variation there.

For example:

#include <tf2_2d/tf2_2d.h>     // This header includes the tf2 conversion functions
#include <tf2_2d/transform.h>  // Then include what you use

// Convert a tf2_2d object into a 3D message
auto transform_2d = tf2_2d::Transform(1.0, 1.5, 2.0);
geometry_msgs::Transform transform_3d_msg = tf2::toMsg(transform_2d);

// Convert a 3D message into a 2D tf2_2d object
geometry_msgs::Transform transform_3d_msg;
tf2_2d::Transform transform_2d;
tf2::fromMsg(transform_3d_msg, transform_2d);

// You can do Stamped<> things as well
auto transform_2d = tf2::Stamped<tf2_2d::Transform>(tf2_2d::Transform(1.0, 1.5, 2.0), ros::Time(1.2), "frame");
geometry_msgs::TransformStamped transform_3d_msg = tf2::toMsg(transform_2d);

Conversion of Points and Quaternions are also supported, as are conversions to other datatypes that are handled by tf2’s conversion system.

Transformation math

The tf2_2d types also implement all of the expected transformation math.

auto v1 = tf2_2d::Vector2(1.0, 2.0);
auto v2 = tf2_2d::Vector2(1.5, 2.5);
auto v3 = v1 + v2;                             // v3 == (2.5, 4.5)

tf2_2d::Rotation r1(M_PI);
auto v4 = r1.rotate(v1);                       // v4 == (-2.0, 1.0)

auto t1 = tf2_2d::Transform(1.0, 2.0, 3.0);
auto t2 = tf2_2d::Transform(-2.0, -1.0, -1.5);
auto t3 = t1 * t2;                             // t3 == (3.12, 2.70, 1.5)

auto t4 = tf2_2d::Transform(1.0, 2.0, 3.0);
auto t5 = tf2_2d::Transform(-2.0, -1.0, -1.5);
auto t6 = t4.inverseTimes(t5);                 // t6 == (2.54, 3.39, 1.78)

The tf2_2d::Rotation class deserves a few additional notes. The angle stored in a Rotation object is always within the (-Pi, Pi] range. You can construct a Rotation object with any floating point value, but it will be wrapped to that range. You can also perform arithmetic with the angles, without worrying about wrapping issues.

tf2_2d::Rotation r1(1.0);
auto r2 = 17.0 * r1;       // r2.angle() == -1.84956

tf2_2d::Rotation r3(1.0);
tf2_2d::Rotation r4(3.0);
auto r5 = r3 + r4;         // r5.angle() == -2.28319

tf2_2d::Rotation r6(-3.0);
tf2_2d::Rotation r7(1.0);
auto r8 = r6 - r7;         // r8.angle() == 2.28319

Additionally, the tf2_td::Rotation class caches the sin/cos results needed to perform rotations. So, once a Rotation object is used to rotate something, the trig functions will never be evaluated again. And the cached sin/cos values will propagate to any derived objects that it can. This includes the Rotation object built into a Transform.

tf2_2d::Vector2 v1(1.0, 2.0);
tf2_2d::Rotation r1(1.0);            // No sin/cos calls have been made, since it is not needed yet
auto v2 = r1.rotate(v1);             // Computes sin/cos and remembers it
auto v3 = r1.unrotate(v2);           // Does not need to compute sin/cos again
tf2_2d::Rotation r2 = r1;            // Transfers sin/cos to r2
auto v4 = r2.rotate(v1);             // Does not need to compute sin/cos because it stole the cached values from r1
tf2_2d::Rotation r3 = r1.inverse();  // Inverts and transfers sin/cos to r3
auto v5 = r3.rotate(v1);             // Does not need to compute sin/cos because it stole the cached values from r1

CHANGELOG

Changelog for package tf2_2d

1.2.0 (2024-09-16)

1.1.0 (2024-06-17)

Exporting boost dependency (#7)
- Exporting Boost and Eigen dependencies
Tailor: Updating Jenkinsfile
Contributors: Tom Moore, locus-services

1.0.1 (2023-03-03)

Port tf2_2d to ROS 2 (#5)
- Build sytem changes for ROS 2
- Code changes for ROS 2
- Don't need int main(); because linking to GTEST_MAIN_LIBRARIES
- Skip ament_cmake_copyright
- Move .h headers to .hpp
- Add .h headers with warning for backwards compatability
- Linter fixes: Satisfy Uncrustify
- Linter fixes: Satisfy cpplint
- Minimum CMake 3.14.4
- ${tf2_geometry_msgs_TARGETS} -> tf2_geometry_msgs::tf2_geometry_msgs
- Bump copywrite date on redirection headers
- Remove Scalar.h include
Tailor: Updating Jenkinsfile
Tailor: Updating Jenkinsfile
Tailor: Updating Jenkinsfile
Contributors: Shane Loretz, locus-services

0.6.4 (2021-07-14)

Handling issue with tf2 circular dependency (#4)
- Handling issue with tf2 circular dependency and other warnings
Contributors: Tom Moore

0.6.3 (2021-07-13)

Fixing package license
Contributors: Tom Moore

0.6.2 (2021-07-12)

Fix test build issue in noetic
Contributors: Tom Moore

0.6.1 (2021-07-11)

Contributors: locus-services

0.6.0 (2020-10-02)

Contributors: locus-services

0.5.0 (2019-07-12)

License cleanup (#3)
Contributors: Stephen Williams, locus-services

0.4.0 (2019-03-18)

Contributors: locus-services

0.3.0 (2019-01-16)

[RST-1548] transform covariance (#2)
- Added conversions to Eigen types
- Added stream operators
- Added some additional toMsg conversions using a non-tf2-standard signature
- Added functions to transform SE2 covariance matrices
Tailor: Creating Jenkinsfile
Expanded readme
Renamed the Transform rotation value to 'yaw'
Moved into separate repo
Contributors: Stephen Williams, locus-services

0.2.0 (2018-04-16)

Adding tf_2d constructor overload from a standard tf transform
Contributors: Stephen Williams, Tom Moore

0.1.0 (2018-02-14)

Small trig cache optimization in the 'unrotate()' function
Added 2D geometry classes (vector, rotation, transform) and conversion functions in the style of the tf2 3D geometry classes
Contributors: Stephen Williams

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	rclcpp
	tf2
	tf2_geometry_msgs
	tf2_ros

System Dependencies

Name
libboost-dev
eigen

Dependant Packages

Name	Deps
fuse_models

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `tf2_2d` at Robotics Stack Exchange

API Docs Browse Code Wiki

No version for distro lunar. Known supported distros are highlighted in the buttons above.

No version for distro jade. Known supported distros are highlighted in the buttons above.

No version for distro indigo. Known supported distros are highlighted in the buttons above.

No version for distro hydro. Known supported distros are highlighted in the buttons above.

No version for distro kinetic. Known supported distros are highlighted in the buttons above.

tf2_2d package from tf2_2d repo

tf2_2d

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	0.12.0
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/locusrobotics/tf2_2d.git
VCS Type	git
VCS Version	devel
Last Updated	2024-12-05
Dev Status	MAINTAINED
CI status	Latest build history: Wed, 07 Jun 2023 11:58:48 GMT (last 5 of 9 builds) #9 07-Jun-2023 11:51 75 / 75 #8 04-Jun-2023 00:51 75 / 75 #7 22-Feb-2023 22:51 75 / 75 #6 07-Jan-2023 00:51 75 / 75 #5 23-Aug-2022 07:51 75 / 75
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

A set of 2D geometry classes modeled after the 3D geometry classes in tf2.

Additional Links

No additional links.

Maintainers

Stephen Williams

Authors

Stephen Williams

README.md

tf2_2d

A set of 2D geometry classes modeled after the 3D geometry classes in tf2.

Using tf2 toMsg() and fromMsg()

I’ve tried to include fromMsg() implementations for anything that remotely makes sense. The tf2 toMsg() signature does limit its use to a single output type, so I’ve had to make a guess as to the most useful variation there.

For example:

#include <tf2_2d/tf2_2d.h>     // This header includes the tf2 conversion functions
#include <tf2_2d/transform.h>  // Then include what you use

// Convert a tf2_2d object into a 3D message
auto transform_2d = tf2_2d::Transform(1.0, 1.5, 2.0);
geometry_msgs::Transform transform_3d_msg = tf2::toMsg(transform_2d);

// Convert a 3D message into a 2D tf2_2d object
geometry_msgs::Transform transform_3d_msg;
tf2_2d::Transform transform_2d;
tf2::fromMsg(transform_3d_msg, transform_2d);

// You can do Stamped<> things as well
auto transform_2d = tf2::Stamped<tf2_2d::Transform>(tf2_2d::Transform(1.0, 1.5, 2.0), ros::Time(1.2), "frame");
geometry_msgs::TransformStamped transform_3d_msg = tf2::toMsg(transform_2d);

Conversion of Points and Quaternions are also supported, as are conversions to other datatypes that are handled by tf2’s conversion system.

Transformation math

The tf2_2d types also implement all of the expected transformation math.

auto v1 = tf2_2d::Vector2(1.0, 2.0);
auto v2 = tf2_2d::Vector2(1.5, 2.5);
auto v3 = v1 + v2;                             // v3 == (2.5, 4.5)

tf2_2d::Rotation r1(M_PI);
auto v4 = r1.rotate(v1);                       // v4 == (-2.0, 1.0)

auto t1 = tf2_2d::Transform(1.0, 2.0, 3.0);
auto t2 = tf2_2d::Transform(-2.0, -1.0, -1.5);
auto t3 = t1 * t2;                             // t3 == (3.12, 2.70, 1.5)

auto t4 = tf2_2d::Transform(1.0, 2.0, 3.0);
auto t5 = tf2_2d::Transform(-2.0, -1.0, -1.5);
auto t6 = t4.inverseTimes(t5);                 // t6 == (2.54, 3.39, 1.78)

The tf2_2d::Rotation class deserves a few additional notes. The angle stored in a Rotation object is always within the (-Pi, Pi] range. You can construct a Rotation object with any floating point value, but it will be wrapped to that range. You can also perform arithmetic with the angles, without worrying about wrapping issues.

tf2_2d::Rotation r1(1.0);
auto r2 = 17.0 * r1;       // r2.angle() == -1.84956

tf2_2d::Rotation r3(1.0);
tf2_2d::Rotation r4(3.0);
auto r5 = r3 + r4;         // r5.angle() == -2.28319

tf2_2d::Rotation r6(-3.0);
tf2_2d::Rotation r7(1.0);
auto r8 = r6 - r7;         // r8.angle() == 2.28319

Additionally, the tf2_td::Rotation class caches the sin/cos results needed to perform rotations. So, once a Rotation object is used to rotate something, the trig functions will never be evaluated again. And the cached sin/cos values will propagate to any derived objects that it can. This includes the Rotation object built into a Transform.

tf2_2d::Vector2 v1(1.0, 2.0);
tf2_2d::Rotation r1(1.0);            // No sin/cos calls have been made, since it is not needed yet
auto v2 = r1.rotate(v1);             // Computes sin/cos and remembers it
auto v3 = r1.unrotate(v2);           // Does not need to compute sin/cos again
tf2_2d::Rotation r2 = r1;            // Transfers sin/cos to r2
auto v4 = r2.rotate(v1);             // Does not need to compute sin/cos because it stole the cached values from r1
tf2_2d::Rotation r3 = r1.inverse();  // Inverts and transfers sin/cos to r3
auto v5 = r3.rotate(v1);             // Does not need to compute sin/cos because it stole the cached values from r1

CHANGELOG

Changelog for package tf2_2d

0.7.0 (2022-02-23)

Tailor: Updating Jenkinsfile
Tailor: Updating Jenkinsfile
Tailor: Updating Jenkinsfile
Tailor: Updating Jenkinsfile
Tailor: Updating Jenkinsfile
Tailor: Updating Jenkinsfile
Tailor: Updating Jenkinsfile
Tailor: Updating Jenkinsfile
Tailor: Updating Jenkinsfile
Tailor: Updating Jenkinsfile
Tailor: Updating Jenkinsfile
Contributors: locus-services

0.8.0 (2023-02-22)

0.7.0
Update changelogs
Tailor: Updating Jenkinsfile
Tailor: Updating Jenkinsfile
Tailor: Updating Jenkinsfile
Tailor: Updating Jenkinsfile
Contributors: Gary Servin, locus-services

0.9.0 (2023-09-25)

Tailor: Updating Jenkinsfile
Tailor: Updating Jenkinsfile
Tailor: Updating Jenkinsfile
Tailor: Updating Jenkinsfile
0.8.0
Update changelogs
0.7.0
Update changelogs
Tailor: Updating Jenkinsfile
Tailor: Updating Jenkinsfile
Tailor: Updating Jenkinsfile
Contributors: Gary Servin, locus-services

0.12.0 (2024-09-16)

Fixing issue with Eigen in Ubuntu Jammy on ARM (#8)
- Fixing issue with Eigen in Ubuntu Jammy on ARM
Contributors: Tom Moore

0.11.0 (2024-06-17)

0.10.0 (2024-02-02)

Tailor: Updating Jenkinsfile
Tailor: Updating Jenkinsfile
0.9.0
Update changelogs
Tailor: Updating Jenkinsfile
Tailor: Updating Jenkinsfile
Tailor: Updating Jenkinsfile
0.8.0
Update changelogs
0.7.0
Update changelogs
Tailor: Updating Jenkinsfile
Tailor: Updating Jenkinsfile
Tailor: Updating Jenkinsfile
Contributors: Gary Servin, locus-services

0.6.4 (2021-07-14)

Handling issue with tf2 circular dependency (#4)
- Handling issue with tf2 circular dependency and other warnings
Contributors: Tom Moore

0.6.3 (2021-07-13)

Fixing package license
Contributors: Tom Moore

0.6.2 (2021-07-12)

Fix test build issue in noetic
Contributors: Tom Moore

0.6.1 (2021-07-11)

Contributors: locus-services

0.6.0 (2020-10-02)

Contributors: locus-services

0.5.0 (2019-07-12)

License cleanup (#3)
Contributors: Stephen Williams, locus-services

0.4.0 (2019-03-18)

Contributors: locus-services

0.3.0 (2019-01-16)

[RST-1548] transform covariance (#2)
- Added conversions to Eigen types
- Added stream operators
- Added some additional toMsg conversions using a non-tf2-standard signature
- Added functions to transform SE2 covariance matrices
Tailor: Creating Jenkinsfile
Expanded readme
Renamed the Transform rotation value to 'yaw'
Moved into separate repo
Contributors: Stephen Williams, locus-services

0.2.0 (2018-04-16)

Adding tf_2d constructor overload from a standard tf transform
Contributors: Stephen Williams, Tom Moore

0.1.0 (2018-02-14)

Small trig cache optimization in the 'unrotate()' function
Added 2D geometry classes (vector, rotation, transform) and conversion functions in the style of the tf2 3D geometry classes
Contributors: Stephen Williams

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	catkin
	roslint
	roscpp
	tf2
	tf2_geometry_msgs

System Dependencies

Name
eigen

Dependant Packages

Name	Deps
fuse_models

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `tf2_2d` at Robotics Stack Exchange

API Docs Browse Code Wiki

tf2_2d package from tf2_2d repo

Package Summary

Repository Summary

Package Description

Additional Links

Maintainers

Authors

tf2_2d

Using tf2 toMsg() and fromMsg()

Transformation math

Changelog for package tf2_2d

1.2.0 (2024-09-16)

1.1.0 (2024-06-17)

1.0.1 (2023-03-03)

0.6.4 (2021-07-14)

0.6.3 (2021-07-13)

0.6.2 (2021-07-12)

0.6.1 (2021-07-11)

0.6.0 (2020-10-02)

0.5.0 (2019-07-12)

0.4.0 (2019-03-18)

0.3.0 (2019-01-16)

0.2.0 (2018-04-16)

0.1.0 (2018-02-14)

Wiki Tutorials

Package Dependencies

System Dependencies

Dependant Packages

Launch files

Messages

Services

Plugins

Recent questions tagged tf2_2d at Robotics Stack Exchange

tf2_2d package from tf2_2d repo

Package Summary

Repository Summary

Package Description

Additional Links

Maintainers

Authors

tf2_2d

Using tf2 toMsg() and fromMsg()

Transformation math

Changelog for package tf2_2d

1.2.0 (2024-09-16)

1.1.0 (2024-06-17)

1.0.1 (2023-03-03)

0.6.4 (2021-07-14)

0.6.3 (2021-07-13)

0.6.2 (2021-07-12)

0.6.1 (2021-07-11)

0.6.0 (2020-10-02)

0.5.0 (2019-07-12)

0.4.0 (2019-03-18)

0.3.0 (2019-01-16)

0.2.0 (2018-04-16)

0.1.0 (2018-02-14)

Wiki Tutorials

Package Dependencies

System Dependencies

Dependant Packages

Launch files

Messages

Services

Plugins

Recent questions tagged tf2_2d at Robotics Stack Exchange

tf2_2d package from tf2_2d repo

Package Summary

Repository Summary

Package Description

Additional Links

Maintainers

Authors

tf2_2d

Using tf2 toMsg() and fromMsg()

Transformation math

Changelog for package tf2_2d

0.7.0 (2022-02-23)

0.8.0 (2023-02-22)

0.9.0 (2023-09-25)

Recent questions tagged `tf2_2d` at Robotics Stack Exchange

Recent questions tagged `tf2_2d` at Robotics Stack Exchange

Recent questions tagged `tf2_2d` at Robotics Stack Exchange

Recent questions tagged `tf2_2d` at Robotics Stack Exchange