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Where can i find the source code of tf::StampedTransform class and function [closed]

asked 2015-09-16 21:15:35 -0500

updated 2015-09-16 21:24:57 -0500

Hi All,

I have downloaded the tf sourcecode package but can not find the sorce code of tf::StampedTransform class. I want to see the sourcecode of the getRPY function in the example code as below:

tf::StampedTransform transform;
tfListener.lookupTransform(source_frameid, target_frameid, ros::Time(), transform);
double yaw, pitch, roll;
transform.getBasis().getRPY(roll, pitch, yaw);

Can any body give me some hint? image description

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Closed for the following reason the question is answered, right answer was accepted by redskydeng
close date 2015-09-18 04:52:33.201843

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answered 2015-09-17 01:27:45 -0500

mgruhler gravatar image

updated 2015-09-17 01:28:22 -0500

tf::StampedTransform is derived from tf::Transform (see implementation of tf::StampedTransform here and the docs of tf::Transform here).

getRPY is actually not a function of any of those clases, but of the Matrix3x3 Type, which is a member of tf::Transform that you get via the getBasis() function. The docs of Matrix3x3 can be found here.

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Thanks a lot!

Is there a easier way to tranform Quaternion to EulerAngle besides getRPY(roll, pitch, yaw) in ROS?

redskydeng gravatar imageredskydeng ( 2015-09-18 04:51:46 -0500 )edit

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Asked: 2015-09-16 21:15:35 -0500

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Last updated: Sep 17 '15