remove file data_convert

include/laser_geometry/data_convert.h

@@ -1,100 +0,0 @@
-#ifndef DATA_CONVERT_H
-#define DATA_CONVERT_H
-
-#include <geometry_msgs/TransformStamped.h>
-#include <tf3/utils.h>
-#include <tf3/compat.h>
-#include <robot/time.h>
-
-namespace laser_geometry
-{
-    robot::Time convertTime(tf3::Time time)
-    {
-        robot::Time time_tmp;
-        time_tmp.sec = time.sec;
-        time_tmp.nsec = time.nsec;
-        return time_tmp;
-    }
-
-    tf3::Time convertTime(robot::Time time)
-    {
-        tf3::Time time_tmp;
-        time_tmp.sec = time.sec;
-        time_tmp.nsec = time.nsec;
-        return time_tmp;
-    }
-
-    
-    tf3::Transform convertToTf2Transform(const geometry_msgs::Transform& msg)
-    {
-        tf3::Quaternion q(
-            msg.rotation.x,
-            msg.rotation.y,
-            msg.rotation.z,
-            msg.rotation.w
-        );
-
-        tf3::Vector3 t(
-            msg.translation.x,
-            msg.translation.y,
-            msg.translation.z
-        );
-
-        tf3::Transform tf(q, t);
-        return tf;
-    }
-
-    tf3::Transform convertToTf2Transform(const tf3::TransformMsg& msg)
-    {
-        tf3::Quaternion q(
-            msg.rotation.x,
-            msg.rotation.y,
-            msg.rotation.z,
-            msg.rotation.w
-        );
-
-        tf3::Vector3 t(
-            msg.translation.x,
-            msg.translation.y,
-            msg.translation.z
-        );
-
-        tf3::Transform tf(q, t);
-        return tf;
-    }
-
-    tf3::TransformStampedMsg convertToTransformStampedMsg(const geometry_msgs::TransformStamped& msg)
-    {
-        tf3::TransformStampedMsg out;
-        out.header.seq = msg.header.seq;
-        out.header.stamp = convertTime(msg.header.stamp);
-        out.header.frame_id = msg.header.frame_id;
-        out.child_frame_id = msg.child_frame_id;
-        out.transform.translation.x = msg.transform.translation.x;
-        out.transform.translation.y = msg.transform.translation.y;
-        out.transform.translation.z = msg.transform.translation.z;
-        out.transform.rotation.x = msg.transform.rotation.x; 
-        out.transform.rotation.y = msg.transform.rotation.y; 
-        out.transform.rotation.z = msg.transform.rotation.z; 
-        out.transform.rotation.w = msg.transform.rotation.w; 
-        return out;
-    }
-    geometry_msgs::TransformStamped convertToTransformStamped(const tf3::TransformStampedMsg& msg)
-    {
-        geometry_msgs::TransformStamped out;
-        out.header.seq = msg.header.seq;
-        out.header.stamp = convertTime(msg.header.stamp);
-        out.header.frame_id = msg.header.frame_id;
-        out.child_frame_id = msg.child_frame_id;
-        out.transform.translation.x = msg.transform.translation.x;
-        out.transform.translation.y = msg.transform.translation.y;
-        out.transform.translation.z = msg.transform.translation.z;
-        out.transform.rotation.x = msg.transform.rotation.x; 
-        out.transform.rotation.y = msg.transform.rotation.y; 
-        out.transform.rotation.z = msg.transform.rotation.z; 
-        out.transform.rotation.w = msg.transform.rotation.w; 
-        return out;
-    }
-}
-
-#endif // DATA_CONVERT_H