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msg: transform
Salvo Virga edited this page Sep 22, 2018
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1 revision
simple_msgs::Transform
messages represent a 3D position and orientation in space.
It is composed of a simple_msgs::Point
: X, Y, Z
and a simple_msgs::RotationMatrix
: a 3x3 matrix.
A simple_msgs::TransformStamped
message is a Transform
+ Header
:
the pose can then be linked to a reference frame defined by Header.frame_id
and their timestamp can be stored in Header.timestamp
.
In code:
simple_msgs::Header my_header{0, "root", 1.0};
simple_msgs::Point my_point{1.0, 3.0, 2.0};
simple_msgs::RotationMatrix my_matrix{1.0, 0.0, 2.0,
4.0, 5.0, 1.0,
0.0, 0.0, 1.0};
simple_msgs::TransformStamped my_transformstamped{my_header, simple_msgs::Transform{my_point, my_matrix}};
You can manipulate the TransformStamped
message using its setters/getters. E.g.
my_transformstamped.getTransform.getTranslation.setX(0.0);