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update file data_convert.h

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duongtd
2025-11-26 15:01:26 +07:00
parent 6e548f71fb
commit d3588f0bb5
3 changed files with 22 additions and 16 deletions
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16
tf3_geometry_msgs/include/tf3_geometry_msgs/data_convert.h
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@@ -11,7 +11,7 @@
namespace tf3 namespace tf3
{ {
robot::Time convertTime(const tf3::Time& time) inline robot::Time convertTime(const tf3::Time& time)
{ {
robot::Time time_tmp; robot::Time time_tmp;
time_tmp.sec = time.sec; time_tmp.sec = time.sec;
@@ -19,7 +19,7 @@ namespace tf3
return time_tmp; return time_tmp;
} }
tf3::Time convertTime(const robot::Time& time) inline tf3::Time convertTime(const robot::Time& time)
{ {
tf3::Time time_tmp; tf3::Time time_tmp;
time_tmp.sec = time.sec; time_tmp.sec = time.sec;
@@ -27,18 +27,18 @@ namespace tf3
return time_tmp; return time_tmp;
} }
tf3::Quaternion convertQuaternion(const geometry_msgs::Quaternion& q) inline tf3::Quaternion convertQuaternion(const geometry_msgs::Quaternion& q)
{ {
tf3::Quaternion out(q.x,q.y,q.z,q.w); tf3::Quaternion out(q.x,q.y,q.z,q.w);
return out; return out;
} }
geometry_msgs::Quaternion convertQuaternion(const tf3::Quaternion& q) inline geometry_msgs::Quaternion convertQuaternion(const tf3::Quaternion& q)
{ {
return geometry_msgs::Quaternion(q.x(),q.y(),q.z(),q.w()); return geometry_msgs::Quaternion(q.x(),q.y(),q.z(),q.w());
} }
tf3::Transform convertToTransform(const tf3::TransformStampedMsg& msg) inline tf3::Transform convertToTransform(const tf3::TransformStampedMsg& msg)
{ {
tf3::Transform out; tf3::Transform out;
@@ -59,7 +59,7 @@ namespace tf3
return out; return out;
} }
tf3::Transform convertToTransform(const geometry_msgs::TransformStamped& msg) inline tf3::Transform convertToTransform(const geometry_msgs::TransformStamped& msg)
{ {
tf3::Transform out; tf3::Transform out;
@@ -81,7 +81,7 @@ namespace tf3
} }
tf3::TransformStampedMsg convertToTransformStampedMsg(const geometry_msgs::TransformStamped& msg) inline tf3::TransformStampedMsg convertToTransformStampedMsg(const geometry_msgs::TransformStamped& msg)
{ {
tf3::TransformStampedMsg out; tf3::TransformStampedMsg out;
out.header.seq = msg.header.seq; out.header.seq = msg.header.seq;
@@ -98,7 +98,7 @@ namespace tf3
return out; return out;
} }
geometry_msgs::TransformStamped convertToTransformStamped(const tf3::TransformStampedMsg& msg) inline geometry_msgs::TransformStamped convertToTransformStamped(const tf3::TransformStampedMsg& msg)
{ {
geometry_msgs::TransformStamped out; geometry_msgs::TransformStamped out;
out.header.seq = msg.header.seq; out.header.seq = msg.header.seq;

6
tf3_geometry_msgs/test/test_tf2_geometry_msgs.cpp
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@@ -252,6 +252,12 @@ TEST(TfGeometry, PoseWithCovarianceStamped)
int main(int argc, char **argv){ int main(int argc, char **argv){
testing::InitGoogleTest(&argc, argv); testing::InitGoogleTest(&argc, argv);
// std::vector<int> data = {2,2,7,4,5};
// for(int i = 0; i < data.size(); i++) {
// std::cout << data.size() << std::endl;
// std::cout<< i << " " << data[i] << std::endl;
// }
tf_buffer = new tf3::BufferCore(); tf_buffer = new tf3::BufferCore();
tf_buffer->setUsingDedicatedThread(true); tf_buffer->setUsingDedicatedThread(true);
// std::cout << "STEP 1" << std::endl; // std::cout << "STEP 1" << std::endl;

16
tf3_sensor_msgs/include/tf3_sensor_msgs/data_convert.h
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@@ -11,7 +11,7 @@
namespace tf3 namespace tf3
{ {
robot::Time convertTime(const tf3::Time& time) inline robot::Time convertTime(const tf3::Time& time)
{ {
robot::Time time_tmp; robot::Time time_tmp;
time_tmp.sec = time.sec; time_tmp.sec = time.sec;
@@ -19,7 +19,7 @@ namespace tf3
return time_tmp; return time_tmp;
} }
tf3::Time convertTime(const robot::Time& time) inline tf3::Time convertTime(const robot::Time& time)
{ {
tf3::Time time_tmp; tf3::Time time_tmp;
time_tmp.sec = time.sec; time_tmp.sec = time.sec;
@@ -27,18 +27,18 @@ namespace tf3
return time_tmp; return time_tmp;
} }
tf3::Quaternion convertQuaternion(const geometry_msgs::Quaternion& q) inline tf3::Quaternion convertQuaternion(const geometry_msgs::Quaternion& q)
{ {
tf3::Quaternion out(q.x,q.y,q.z,q.w); tf3::Quaternion out(q.x,q.y,q.z,q.w);
return out; return out;
} }
geometry_msgs::Quaternion convertQuaternion(const tf3::Quaternion& q) inline geometry_msgs::Quaternion convertQuaternion(const tf3::Quaternion& q)
{ {
return geometry_msgs::Quaternion(q.x(),q.y(),q.z(),q.w()); return geometry_msgs::Quaternion(q.x(),q.y(),q.z(),q.w());
} }
tf3::Transform convertToTransform(const tf3::TransformStampedMsg& msg) inline tf3::Transform convertToTransform(const tf3::TransformStampedMsg& msg)
{ {
tf3::Transform out; tf3::Transform out;
@@ -59,7 +59,7 @@ namespace tf3
return out; return out;
} }
tf3::Transform convertToTransform(const geometry_msgs::TransformStamped& msg) inline tf3::Transform convertToTransform(const geometry_msgs::TransformStamped& msg)
{ {
tf3::Transform out; tf3::Transform out;
@@ -81,7 +81,7 @@ namespace tf3
} }
tf3::TransformStampedMsg convertToTransformStampedMsg(const geometry_msgs::TransformStamped& msg) inline tf3::TransformStampedMsg convertToTransformStampedMsg(const geometry_msgs::TransformStamped& msg)
{ {
tf3::TransformStampedMsg out; tf3::TransformStampedMsg out;
out.header.seq = msg.header.seq; out.header.seq = msg.header.seq;
@@ -98,7 +98,7 @@ namespace tf3
return out; return out;
} }
geometry_msgs::TransformStamped convertToTransformStamped(const tf3::TransformStampedMsg& msg) inline geometry_msgs::TransformStamped convertToTransformStamped(const tf3::TransformStampedMsg& msg)
{ {
geometry_msgs::TransformStamped out; geometry_msgs::TransformStamped out;
out.header.seq = msg.header.seq; out.header.seq = msg.header.seq;