Johnnylin Johnnylin - 2 months ago 23
C++ Question

How to Transform tf::Transform to btTransform

void broadcastKinectTransform(const tf::Transform& transform,
const std::string& kinect_rgb_optical,
const std::string& ground,
tf::TransformBroadcaster& broadcaster,
const tf::TransformListener& listener) {
std::string link;
if (listener.getParent(kinect_rgb_optical, ros::Time(0), link) && listener.getParent(link, ros::Time(0), link)) {
tf::StampedTransform tfTransform;
listener.lookupTransform (link, kinect_rgb_optical, ros::Time(0), tfTransform);
broadcaster.sendTransform(tf::StampedTransform(transform * tfTransform.asBt().inverse(), ros::Time::now(), ground, link));
} else {
broadcaster.sendTransform(tf::StampedTransform(transform, ros::Time::now(), ground, kinect_rgb_optical));
}
}


In the above function
.asBt()
is deprecated, what should I do to finish the transformation? How to convert
tf::Transform
to
btTransform
and vice versa ?

Answer

tf::Transform is another name for btTransform.

Have a look to its definition in tf/transform_datatypes.h: typedef btTransform tf::Transform.

You can simply use the tf::Transform::inverse() method. Have a look at the tf::Transform documentation.

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