transform_graph package from transform_graph repo

transform_graph

Package Summary

Tags No category tags.
Version 0.3.0
License Apache 2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/jstnhuang/transform_graph.git
VCS Type git
VCS Version indigo-devel
Last Updated 2018-02-05
Dev Status DEVELOPED
Released RELEASED

Package Description

Library for computing transformations in arbitrary graph structures.

Additional Links

Maintainers

  • Justin Huang

Authors

No additional authors.

transform_graph

Build Status Coverage Status

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

Could not convert RST to MD: No such file or directory - pandoc

Wiki Tutorials

See ROS Wiki Tutorials for more details.

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