File content as of revision 3:b964e3f71102:

/*
 * Software License Agreement (BSD License)
 *
 * Copyright (c) 2011, Willow Garage, Inc.
 * All rights reserved.
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 * modification, are permitted provided that the following conditions
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 *  * Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
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 *    contributors may be used to endorse or promote prducts derived
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#ifndef ROS_TF_H_
#define ROS_TF_H_

#include "geometry_msgs/TransformStamped.h"

namespace tf
{

static inline geometry_msgs::Quaternion createQuaternionFromYaw(double yaw)
{
  geometry_msgs::Quaternion q;
  q.x = 0;
  q.y = 0;
  q.z = sin(yaw * 0.5);
  q.w = cos(yaw * 0.5);
  return q;
}

}

#endif