53 #ifndef __LIBS_TF_UTILS_H_ 54 #define __LIBS_TF_UTILS_H_ 71 resolve(
const std::string& prefix,
const std::string& frame_name)
73 if (frame_name.size() > 0) {
74 if (frame_name[0] ==
'/') {
78 if (prefix.size() > 0) {
79 if (prefix[0] ==
'/') {
80 std::string composite = prefix;
81 composite.append(
"/");
82 composite.append(frame_name);
85 std::string composite;
87 composite.append(prefix);
88 composite.append(
"/");
89 composite.append(frame_name);
93 std::string composite;
95 composite.append(frame_name);
109 ident(std::string frame, Time t = Time(0,0))
112 tf::Stamped<tf::Pose>(tf::Transform(tf::Quaternion(0, 0, 0, 1),
113 tf::Vector3(0, 0, 0)),
123 resize_vector(
const Vector3 &v,
double s)
125 return v.normalized() * s;
134 starts_with_slash(
const std::string& frame_id)
136 return (frame_id.size() > 0) && (frame_id[0] ==
'/');
145 strip_slash(
const std::string& in)
147 if (starts_with_slash(in))
Fawkes library namespace.