27 #include <tf/transformer.h> 33 main(
int argc,
char **argv)
36 printf(
"Populating data\n");
37 Quaternion q(0, 0, 0, 1);
45 printf(
"Setting transform\n");
49 printf(
"Looking up transform\n");
51 transformer.lookupTransform(
"/robot",
"/world", time, res);
53 Quaternion res_q(res.getRotation());
54 Vector3 res_v(res.getOrigin());
55 printf(
"Read transform Q (%f,%f,%f,%f) V (%f,%f,%f)\n",
56 res_q.x(), res_q.y(), res_q.z(), res_q.w(),
57 res_v.x(), res_v.y(), res_v.z());
bool set_transform(const StampedTransform &transform, const std::string &authority, bool is_static=false)
Add transform information to the tf data structure.
A class for handling time.