37 lines
1.1 KiB
Plaintext
37 lines
1.1 KiB
Plaintext
/**
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\mainpage
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\htmlinclude manifest.html
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\b tf2 is the second generation of the tf library.
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This library implements the interface defined by tf2::BufferCore.
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There is also a Python wrapper with the same API that class this library using CPython bindings.
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\section codeapi Code API
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The main interface is through the tf2::BufferCore interface.
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It uses the exceptions in exceptions.h and the Stamped datatype
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in transform_datatypes.h.
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\section conversions Conversion Interface
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tf2 offers a templated conversion interface for external libraries to specify conversions between
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tf2-specific data types and user-defined data types. Various templated functions in tf2_ros use the
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conversion interface to apply transformations from the tf server to these custom datatypes.
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The conversion interface is defined in tf2/convert.h.
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Some packages that implement this interface:
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- tf2_bullet
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- tf2_eigen
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- tf2_geometry_msgs
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- tf2_kdl
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- tf2_sensor_msgs
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More documentation for the conversion interface is available on the <A HREF="http://wiki.ros.org/tf2/Tutorials/Migration/DataConversions">ROS Wiki</A>.
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*/
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