Andrew Bylard / ros_lib_kinetic

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Dependencies:   BufferedSerial

Dependents:   FreeFlyerROS_clarakhl FreeFlyerROS FreeFlyerROS

Fork of ros_lib_kinetic by Gary Servin

tf/tf.h@2:6d41474744b7, 2018-06-22 (annotated)

Committer:
Knillinux
Date:
Fri Jun 22 02:09:43 2018 +0000
Revision:
2:6d41474744b7
Parent:
0:9e9b7db60fd5 
Added publisher/subscribers in class functionality

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:9e9b7db60fd5 1 /*
garyservin 0:9e9b7db60fd5 2 * Software License Agreement (BSD License)
garyservin 0:9e9b7db60fd5 3 *
garyservin 0:9e9b7db60fd5 4 * Copyright (c) 2011, Willow Garage, Inc.
garyservin 0:9e9b7db60fd5 5 * All rights reserved.
garyservin 0:9e9b7db60fd5 6 *
garyservin 0:9e9b7db60fd5 7 * Redistribution and use in source and binary forms, with or without
garyservin 0:9e9b7db60fd5 8 * modification, are permitted provided that the following conditions
garyservin 0:9e9b7db60fd5 9 * are met:
garyservin 0:9e9b7db60fd5 10 *
garyservin 0:9e9b7db60fd5 11 * * Redistributions of source code must retain the above copyright
garyservin 0:9e9b7db60fd5 12 * notice, this list of conditions and the following disclaimer.
garyservin 0:9e9b7db60fd5 13 * * Redistributions in binary form must reproduce the above
garyservin 0:9e9b7db60fd5 14 * copyright notice, this list of conditions and the following
garyservin 0:9e9b7db60fd5 15 * disclaimer in the documentation and/or other materials provided
garyservin 0:9e9b7db60fd5 16 * with the distribution.
garyservin 0:9e9b7db60fd5 17 * * Neither the name of Willow Garage, Inc. nor the names of its
garyservin 0:9e9b7db60fd5 18 * contributors may be used to endorse or promote prducts derived
garyservin 0:9e9b7db60fd5 19 * from this software without specific prior written permission.
garyservin 0:9e9b7db60fd5 20 *
garyservin 0:9e9b7db60fd5 21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
garyservin 0:9e9b7db60fd5 22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
garyservin 0:9e9b7db60fd5 23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
garyservin 0:9e9b7db60fd5 24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
garyservin 0:9e9b7db60fd5 25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
garyservin 0:9e9b7db60fd5 26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
garyservin 0:9e9b7db60fd5 27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
garyservin 0:9e9b7db60fd5 28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
garyservin 0:9e9b7db60fd5 29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
garyservin 0:9e9b7db60fd5 30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
garyservin 0:9e9b7db60fd5 31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
garyservin 0:9e9b7db60fd5 32 * POSSIBILITY OF SUCH DAMAGE.
garyservin 0:9e9b7db60fd5 33 */
garyservin 0:9e9b7db60fd5 34
garyservin 0:9e9b7db60fd5 35 #ifndef ROS_TF_H_
garyservin 0:9e9b7db60fd5 36 #define ROS_TF_H_
garyservin 0:9e9b7db60fd5 37
garyservin 0:9e9b7db60fd5 38 #include "geometry_msgs/TransformStamped.h"
garyservin 0:9e9b7db60fd5 39
garyservin 0:9e9b7db60fd5 40 namespace tf
garyservin 0:9e9b7db60fd5 41 {
garyservin 0:9e9b7db60fd5 42
garyservin 0:9e9b7db60fd5 43 static inline geometry_msgs::Quaternion createQuaternionFromYaw(double yaw)
garyservin 0:9e9b7db60fd5 44 {
garyservin 0:9e9b7db60fd5 45 geometry_msgs::Quaternion q;
garyservin 0:9e9b7db60fd5 46 q.x = 0;
garyservin 0:9e9b7db60fd5 47 q.y = 0;
garyservin 0:9e9b7db60fd5 48 q.z = sin(yaw * 0.5);
garyservin 0:9e9b7db60fd5 49 q.w = cos(yaw * 0.5);
garyservin 0:9e9b7db60fd5 50 return q;
garyservin 0:9e9b7db60fd5 51 }
garyservin 0:9e9b7db60fd5 52
garyservin 0:9e9b7db60fd5 53 }
garyservin 0:9e9b7db60fd5 54
garyservin 0:9e9b7db60fd5 55 #endif
garyservin 0:9e9b7db60fd5 56