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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 |
| 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
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.
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