niryo_libraries.tf2_kdl.tf2

module documentation

Undocumented

Function	`convert_vector`	Convert a generic stamped triplet message to a stamped PyKDL Vector.
Function	`do_transform_frame`	Apply a transform in the form of a geometry_msgs message to a PyKDL Frame.
Function	`do_transform_twist`	Apply a transform in the form of a geometry_msgs message to a PyKDL Twist.
Function	`do_transform_vector`	Apply a transform in the form of a geometry_msgs message to a PyKDL vector.
Function	`do_transform_wrench`	Apply a transform in the form of a geometry_msgs message to a PyKDL Wrench.
Function	`from_msg_vector`	Convert a PointStamped message to a stamped PyKDL Vector.
Function	`to_msg_vector`	Convert a PyKDL Vector to a geometry_msgs PointStamped message.
Function	`transform_to_kdl`	Convert a geometry_msgs Transform message to a PyKDL Frame.

def convert_vector(vector): ¶

Convert a generic stamped triplet message to a stamped PyKDL Vector.

Parameters
vector	The message to convert.
Returns
PyKDL.Vector	The timestamped converted PyKDL vector.

def do_transform_frame(frame, transform): ¶

Apply a transform in the form of a geometry_msgs message to a PyKDL Frame.

Parameters
frame:PyKDL.Frame	The PyKDL frame to transform.
transform:geometry_msgs.msg.TransformStamped	The transform to apply.
Returns
PyKDL.Frame	The transformed PyKDL frame.

def do_transform_twist(twist, transform): ¶

Apply a transform in the form of a geometry_msgs message to a PyKDL Twist.

Parameters
twist:PyKDL.Twist	The PyKDL twist to transform.
transform:geometry_msgs.msg.TransformStamped	The transform to apply.
Returns
PyKDL.Twist	The transformed PyKDL twist.

def do_transform_vector(vector, transform): ¶

Apply a transform in the form of a geometry_msgs message to a PyKDL vector.

Parameters
vector:PyKDL.Vector	The PyKDL vector to transform.
transform:geometry_msgs.msg.TransformStamped	The transform to apply.
Returns
PyKDL.Vector	The transformed vector.

def do_transform_wrench(wrench, transform): ¶

Apply a transform in the form of a geometry_msgs message to a PyKDL Wrench.

Parameters
wrench:PyKDL.Wrench	The PyKDL wrench to transform.
transform:geometry_msgs.msg.TransformStamped	The transform to apply.
Returns
PyKDL.Wrench	The transformed PyKDL wrench.

def from_msg_vector(msg): ¶

Convert a PointStamped message to a stamped PyKDL Vector.

Parameters
msg:geometry_msgs.msg.PointStamped	The PointStamped message to convert.
Returns
PyKDL.Vector	The timestamped converted PyKDL vector.

def to_msg_vector(vector): ¶

Convert a PyKDL Vector to a geometry_msgs PointStamped message.

Parameters
vector:PyKDL.Vector	The vector to convert.
Returns
geometry_msgs.msg.PointStamped	The converted vector/point.

def transform_to_kdl(t): ¶

Convert a geometry_msgs Transform message to a PyKDL Frame.

Parameters
t:geometry_msgs.msg.TransformStamped	The Transform message to convert.
Returns
PyKDL.Frame	The converted PyKDL frame.

niryo_libraries.tf2_kdl.tf2_kdl