tf.h

00001 /* 
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00034 
00035 #ifndef ROS_TF_H_
00036 #define ROS_TF_H_
00037 
00038 #include "geometry_msgs/TransformStamped.h"
00039 
00040 namespace tf
00041 {
00042   
00043   static inline geometry_msgs::Quaternion createQuaternionFromYaw(double yaw)
00044   {
00045     geometry_msgs::Quaternion q;
00046     q.x = 0;
00047     q.y = 0;
00048     q.z = sin(yaw * 0.5);
00049     q.w = cos(yaw * 0.5);
00050     return q;
00051   }
00052 
00053 }
00054 
00055 #endif
00056