transform_graph

• ROS wiki
• Code API

transform_graph is a library that computes transformations betweens arbitrary frames in a graph of transformations. See the generated documentation for details.

Basic example:

#include "transform_graph/transform_graph.h"

transform_graph::Graph graph;
graph.Add("wrist", transform_graph::RefFrame("base_link"), wrist_pose_stamped);
graph.Add("kinect", transform_graph::RefFrame("base_link"), kinect_pose_stamped);

// Find out if a point in the frame of the Kinect is near the wrist.
pcl::PointXYZ point_in_kinect = ...;
transform_graph::Position point_in_wrist;
graph.DescribePosition(point_in_kinect, transform_graph::Source("kinect"), transform_graph::Target("wrist"), &point_in_wrist);
if (point_in_wrist.vector().norm() < 0.05) {
  ...
}

Changelog for package transform_graph

0.3.0 (2018-01-31)

• Added methods for converting Position, Orientation, and Transform back to common types.
• Made LocalFrame implicitly convertable from strings, which makes the API cleaner.
• Updated docs.
• Contributors: Justin Huang

0.2.1 (2017-07-24)

• Changed Markdown documentation to Doxygen format.
• Contributors: Justin Huang

0.2.0 (2017-07-12)

• Added convenience method to get a Pose from a Transform.
• Added convenience method to get a quaternion from an Orientation.
• Contributors: Justin Huang

0.1.4 (2017-05-26)

• Installed internal_graph library.
• Contributors: Justin Huang

0.1.3 (2017-05-25)

• Added missing library export to CMakeLists.txt
• Contributors: Justin Huang

0.1.2 (2017-05-24)

• Fixed CMakeLists.txt for dependent projects.
• Contributors: Justin Huang

0.1.1 (2017-05-05)

• Moved mainpage.md into the doc/ folder.
• Contributors: Justin Huang

0.1.0 (2017-05-03)

The initial release of transform_graph.