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How to invert a geometry_msgs::Transform in C++?

asked 2019-11-20 03:36:41 -0500

Rufus gravatar image

updated 2019-11-20 03:43:48 -0500

Given a geometry_msgs::Transform not obtained through tf, how can I obtain the inverse of this transform?

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answered 2019-11-20 03:50:12 -0500

Rufus gravatar image

updated 2019-11-20 03:50:58 -0500


tf::Transform transform;
tf::transformMsgToTF(transform_msg, transform);
geometry_msgs::Transform inverted_transform_msg;
tf::transformTFToMsg(transform.inverse(), inverted_transform_msg)
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Asked: 2019-11-20 03:36:41 -0500

Seen: 851 times

Last updated: Nov 20 '19