Commit ef828f0520ef8f534d04a940960b280bb0ea9070 - ros-geometry

+5

-4

kdl_conversions/include/kdl_conversions/kdl_msg.h less more

40	40	#include <geometry_msgs/Vector3.h>
41	41	#include <geometry_msgs/Wrench.h>
42	42
	43	#include <ros/macros.h>
43	44
44	45	namespace tf {
45	46	/// Conversion functions from/to the corresponding KDL and geometry_msgs types.

89	90
90	91	//Deprecated methods use above:
91	92	/// Converts a Pose message into a KDL Frame
92		void PoseMsgToKDL(const geometry_msgs::Pose &m, KDL::Frame &k)__attribute__((deprecated));
	93	ROS_DEPRECATED void PoseMsgToKDL(const geometry_msgs::Pose &m, KDL::Frame &k);
93	94
94	95	/// Converts a KDL Frame into a Pose message
95		void PoseKDLToMsg(const KDL::Frame &k, geometry_msgs::Pose &m) __attribute__((deprecated));
	96	ROS_DEPRECATED void PoseKDLToMsg(const KDL::Frame &k, geometry_msgs::Pose &m);
96	97
97	98
98	99
99	100	/// Converts a Twist message into a KDL Twist
100		void TwistMsgToKDL(const geometry_msgs::Twist &m, KDL::Twist &k) __attribute__((deprecated));
	101	ROS_DEPRECATED void TwistMsgToKDL(const geometry_msgs::Twist &m, KDL::Twist &k);
101	102
102	103	/// Converts a KDL Twist into a Twist message
103		void TwistKDLToMsg(const KDL::Twist &k, geometry_msgs::Twist &m) __attribute__((deprecated));
	104	ROS_DEPRECATED void TwistKDLToMsg(const KDL::Twist &k, geometry_msgs::Twist &m);
104	105
105	106
106	107

+4

-2

tf/include/tf/LinearMath/Matrix3x3.h less more

17	17
18	18	#include "Vector3.h"
19	19	#include "Quaternion.h"
	20
	21	#include <ros/macros.h>
20	22
21	23	namespace tf
22	24	{

162	164	* @param pitch Pitch about Y axis
163	165	* @param roll Roll about X axis
164	166	*/
165		void setEulerZYX(const tfScalar& yaw, const tfScalar& pitch, const tfScalar& roll) __attribute__((deprecated))
	167	ROS_DEPRECATED void setEulerZYX(const tfScalar& yaw, const tfScalar& pitch, const tfScalar& roll)
166	168	{
167	169	setEulerYPR(yaw, pitch, roll);
168	170	}

278	280	* @param pitch Pitch around Y axis
279	281	* @param roll around X axis
280	282	* @param solution_number Which solution of two possible solutions ( 1 or 2) are possible values*/
281		__attribute__((deprecated)) void getEulerZYX(tfScalar& yaw, tfScalar& pitch, tfScalar& roll, unsigned int solution_number = 1) const
	283	ROS_DEPRECATED void getEulerZYX(tfScalar& yaw, tfScalar& pitch, tfScalar& roll, unsigned int solution_number = 1) const
282	284	{
283	285	getEulerYPR(yaw, pitch, roll, solution_number);
284	286	};

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-2

tf/include/tf/LinearMath/Quaternion.h less more

19	19
20	20	#include "Vector3.h"
21	21	#include "QuadWord.h"
	22
	23	#include <ros/macros.h>
22	24
23	25	namespace tf
24	26	{

47	49	* @param yaw Angle around Y unless TF_EULER_DEFAULT_ZYX defined then Z
48	50	* @param pitch Angle around X unless TF_EULER_DEFAULT_ZYX defined then Y
49	51	* @param roll Angle around Z unless TF_EULER_DEFAULT_ZYX defined then X */
50		Quaternion(const tfScalar& yaw, const tfScalar& pitch, const tfScalar& roll) __attribute__((deprecated))
	52	ROS_DEPRECATED Quaternion(const tfScalar& yaw, const tfScalar& pitch, const tfScalar& roll)
51	53	{
52	54	#ifndef TF_EULER_DEFAULT_ZYX
53	55	setEuler(yaw, pitch, roll);

110	112	* @param yaw Angle around Z
111	113	* @param pitch Angle around Y
112	114	* @param roll Angle around X */
113		void setEulerZYX(const tfScalar& yaw, const tfScalar& pitch, const tfScalar& roll) __attribute__((deprecated))
	115	ROS_DEPRECATED void setEulerZYX(const tfScalar& yaw, const tfScalar& pitch, const tfScalar& roll)
114	116	{
115	117	setRPY(roll, pitch, yaw);
116	118	}

+2

-2

tf/include/tf/LinearMath/Vector3.h less more

34	34	* It has an un-used w component to suit 16-byte alignment when Vector3 is stored in containers. This extra component can be used by derived classes (Quaternion?) or by user
35	35	* Ideally, this class should be replaced by a platform optimized SIMD version that keeps the data in registers
36	36	*/
37		class Vector3
	37	ATTRIBUTE_ALIGNED16(class) Vector3
38	38	{
39	39	public:
40	40

346	346
347	347	TFSIMD_FORCE_INLINE void deSerializeDouble(const struct Vector3DoubleData& dataIn);
348	348
349		} __attribute__ ((aligned(16)));
	349	};
350	350
351	351	/*@brief Return the sum of two vectors (Point symantics)/
352	352	TFSIMD_FORCE_INLINE Vector3

+2

-1

tf/include/tf/tf.h less more

46	46	#include "geometry_msgs/TwistStamped.h"
47	47
48	48	#include <tf2_ros/buffer.h>
	49	#include <ros/macros.h>
49	50
50	51	namespace tf
51	52	{

56	57	std::string strip_leading_slash(const std::string& frame_name);
57	58
58	59	/** \deprecated This has been renamed to tf::resolve */
59		__attribute__((deprecated)) static inline std::string remap(const std::string& prefix, const std::string& frame_name) { return tf::resolve(prefix, frame_name);} ;
	60	ROS_DEPRECATED static inline std::string remap(const std::string& prefix, const std::string& frame_name) { return tf::resolve(prefix, frame_name);} ;
60	61
61	62	enum ErrorValues { NO_ERROR = 0, LOOKUP_ERROR, CONNECTIVITY_ERROR, EXTRAPOLATION_ERROR};
62	63

+2

-1

tf/include/tf/transform_listener.h less more

37	37	#include "tf/tf.h"
38	38	#include "ros/ros.h"
39	39	#include "ros/callback_queue.h"
	40	#include "ros/macros.h"
40	41
41	42	#include "tf/FrameGraph.h" //frame graph service
42	43	#include "boost/thread.hpp"

62	63
63	64	/** \brief resolve names
64	65	* \deprecated Use TransformListener::remap instead */
65		std::string remap(const std::string& frame_id) __attribute__((deprecated));
	66	ROS_DEPRECATED std::string remap(const std::string& frame_id);
66	67
67	68	/** \brief This class inherits from Transformer and automatically subscribes to ROS transform messages */
68	69	class TransformListener : public Transformer { //subscribes to message and automatically stores incoming data

+11

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tf_conversions/include/tf_conversions/tf_kdl.h less more

36	36	#include <geometry_msgs/Pose.h>
37	37	#include <geometry_msgs/Twist.h>
38	38
	39	#include <ros/macros.h>
	40
39	41	namespace tf
40	42	{
41	43

65	67
66	68	/* DEPRECATED FUNCTIONS */
67	69	/// Starting from a Pose from A to B, apply a Twist with reference frame A and reference point B, during a time t.
68		geometry_msgs::Pose addDelta(const geometry_msgs::Pose &pose, const geometry_msgs::Twist &twist, const double &t) __attribute__((deprecated));
	70	ROS_DEPRECATED geometry_msgs::Pose addDelta(const geometry_msgs::Pose &pose, const geometry_msgs::Twist &twist, const double &t);
69	71
70	72
71	73	/// Converts a tf Pose into a KDL Frame
72		void PoseTFToKDL(const tf::Pose &t, KDL::Frame &k) __attribute__((deprecated));
	74	ROS_DEPRECATED void PoseTFToKDL(const tf::Pose &t, KDL::Frame &k);
73	75	void inline PoseTFToKDL(const tf::Pose &t, KDL::Frame &k) {poseTFToKDL(t, k);};
74	76
75	77	/// Converts a KDL Frame into a tf Pose
76		void PoseKDLToTF(const KDL::Frame &k, tf::Pose &t) __attribute__((deprecated));
	78	ROS_DEPRECATED void PoseKDLToTF(const KDL::Frame &k, tf::Pose &t);
77	79	void inline PoseKDLToTF(const KDL::Frame &k, tf::Pose &t) {poseKDLToTF(k, t);};
78	80
79	81	/// Converts a tf Quaternion into a KDL Rotation
80		void QuaternionTFToKDL(const tf::Quaternion &t, KDL::Rotation &k) __attribute__((deprecated));
	82	ROS_DEPRECATED void QuaternionTFToKDL(const tf::Quaternion &t, KDL::Rotation &k);
81	83	void inline QuaternionTFToKDL(const tf::Quaternion &t, KDL::Rotation &k) {quaternionTFToKDL(t, k);};
82	84
83	85	/// Converts a tf Quaternion into a KDL Rotation
84		void QuaternionKDLToTF(const KDL::Rotation &k, tf::Quaternion &t) __attribute__((deprecated));
	86	ROS_DEPRECATED void QuaternionKDLToTF(const KDL::Rotation &k, tf::Quaternion &t);
85	87	void inline QuaternionKDLToTF(const KDL::Rotation &k, tf::Quaternion &t) {quaternionKDLToTF(k, t);};
86	88
87	89	/// Converts a tf Transform into a KDL Frame
88		void TransformTFToKDL(const tf::Transform &t, KDL::Frame &k) __attribute__((deprecated));
	90	ROS_DEPRECATED void TransformTFToKDL(const tf::Transform &t, KDL::Frame &k);
89	91	void inline TransformTFToKDL(const tf::Transform &t, KDL::Frame &k) {transformTFToKDL(t, k);};
90	92
91	93	/// Converts a KDL Frame into a tf Transform
92		void TransformKDLToTF(const KDL::Frame &k, tf::Transform &t) __attribute__((deprecated));
	94	ROS_DEPRECATED void TransformKDLToTF(const KDL::Frame &k, tf::Transform &t);
93	95	void inline TransformKDLToTF(const KDL::Frame &k, tf::Transform &t) {transformKDLToTF(k, t);};
94	96
95	97	/// Converts a tf Vector3 into a KDL Vector
96		void VectorTFToKDL(const tf::Vector3 &t, KDL::Vector &k) __attribute__((deprecated));
	98	ROS_DEPRECATED void VectorTFToKDL(const tf::Vector3 &t, KDL::Vector &k);
97	99	void inline VectorTFToKDL(const tf::Vector3 &t, KDL::Vector &k) {vectorTFToKDL(t, k);};
98	100
99	101	/// Converts a tf Vector3 into a KDL Vector
100		void VectorKDLToTF(const KDL::Vector &k, tf::Vector3 &t) __attribute__((deprecated));
	102	ROS_DEPRECATED void VectorKDLToTF(const KDL::Vector &k, tf::Vector3 &t);
101	103	void inline VectorKDLToTF(const KDL::Vector &k, tf::Vector3 &t) {vectorKDLToTF(k, t);};
102	104
103	105