[ros-users] [PATCH] add KDL::Wrench/geometry_msgs::Wrench tf_conversions

[Wim Meeussen]

Markus,

In D-turtle all these conversion functions are replaced with a
template-based implementation that allows you to convert between any
two types that have the same semantic meaning. The API is defined in
the buffer_interface.h and buffer_interface.py files in the
geometry_experimental stack. For each datatype there is a plugin that
implements the conversions (see packages tf2_kdl, tf2_bullet,
tf2_geometry_msgs, etc).

This new functionality is not yet documented well on the wiki, but you
can already take a look at
<http://www.ros.org/wiki/geometry_experimental>.

Wim




On Fri, Jan 7, 2011 at 7:11 AM, Markus Klotzbuecher
<markus.klotzbucher at mech.kuleuven.be> wrote:
> Index: include/tf_conversions/tf_kdl.h
> ===================================================================
> --- include/tf_conversions/tf_kdl.h     (revision 31694)
> +++ include/tf_conversions/tf_kdl.h     (working copy)
> @@ -34,6 +34,7 @@
>  #include "kdl/frames.hpp"
>  #include "geometry_msgs/Twist.h"
>  #include "geometry_msgs/Pose.h"
> +#include "geometry_msgs/Wrench.h"
>
>  namespace tf
>  {
> @@ -67,8 +68,13 @@
>  /// Converts a KDL Frame into a Pose message
>  void PoseKDLToMsg(const KDL::Frame &t, geometry_msgs::Pose &p);
>
> +/// Converts a KDL Wrench into a Wrench message
> +void WrenchKDLToMsg(const KDL::Wrench &w, geometry_msgs::Wrench &m);
>
> +/// Converts a Wrench message into a KDL Wrench
> +void WrenchMsgToKDL(const geometry_msgs::Wrench &m, KDL::Wrench &w);
>
> +
>  /* DEPRECATED FUNCTIONS */
>  /// Starting from a Pose from A to B, apply a Twist with reference frame A and reference point B, during a time t.
>  geometry_msgs::Pose addDelta(const geometry_msgs::Pose &pose, const geometry_msgs::Twist &twist, const double &t)  __attribute__((deprecated));
> Index: src/tf_kdl.cpp
> ===================================================================
> --- src/tf_kdl.cpp      (revision 31694)
> +++ src/tf_kdl.cpp      (working copy)
> @@ -108,6 +108,26 @@
>     tf::poseTFToMsg(pose_tf,p);
>   }
>
> +  void WrenchKDLToMsg(const KDL::Wrench &w, geometry_msgs::Wrench &m)
> +  {
> +    m.force.x = w.force[0];
> +    m.force.y = w.force[1];
> +    m.force.z = w.force[2];
> +    m.torque.x = w.torque[0];
> +    m.torque.y = w.torque[1];
> +    m.torque.z = w.torque[2];
> +  }
> +
> +  void WrenchMsgToKDL(const geometry_msgs::Wrench &m, KDL::Wrench &w)
> +  {
> +    w.force[0] = m.force.x;
> +    w.force[1] = m.force.y;
> +    w.force[2] = m.force.z;
> +    w.torque[0] = m.torque.x;
> +    w.torque[1] = m.torque.y;
> +    w.torque[2] = m.torque.z;
> +  }
> +
>   geometry_msgs::Pose addDelta(const geometry_msgs::Pose &pose, const geometry_msgs::Twist &twist, const double &t)
>   {
>     geometry_msgs::Pose result;
>
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>



-- 
--
Wim Meeussen
Willow Garage Inc.
<http://www.willowgarage.com)