transform_graph repository

Repository Summary

Checkout URI https://github.com/jstnhuang/transform_graph.git
VCS Type git
VCS Version indigo-devel
Last Updated 2019-07-19
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
transform_graph 0.3.0

README

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) {
  ...
}

CONTRIBUTING

No CONTRIBUTING.md found.