tf2_manif

A conversion package to convert tf2 to/from manif data structures.

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Package Summary

• Maintainer status: maintained
• Maintainer: Jeremie Deray [email protected]
• Author: Jeremie Deray [email protected]
• License: MIT
• Bug / feature tracker: https://github.com/artivis/tf2_manif/issues
• Source: git https://github.com/artivis/tf2_manif.git (branch: master)

Quick Start

From source

$ git clone https://github.com/artivis/tf2_manif.git
$ catkin build

Some more details about the package

For more information about the manif library please follow this link.

Supported datatype:

ROS message type	manif datatype	Transform function
geometry_msgs::Vector3	Eigen::Vector3d	void doTransform(const Eigen::Vector3d& t_in, Eigen::Vector3d& t_out, const geometry_msgs::Transform& transform)
geometry_msgs::Quaternion	manif::SO3d	void doTransform(const manif::SO3d& t_in, manif::SO3d& t_out, const geometry_msgs::Transform& transform)
geometry_msgs::Pose	manif::SE3d	void doTransform(const manif::SE3d& t_in, manif::SE3d& t_out, const geometry_msgs::Transform& transform)
geometry_msgs::Twist	manif::SE3Tangentd	Not available atm : see here