root / quad2 / arduino / src / ros_lib / tf / tf.h @ c1426757
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1 | c1426757 | Tom Mullins | /*
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2 | * Software License Agreement (BSD License)
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3 | *
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4 | * Copyright (c) 2011, Willow Garage, Inc.
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5 | * All rights reserved.
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6 | *
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7 | * Redistribution and use in source and binary forms, with or without
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8 | * modification, are permitted provided that the following conditions
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9 | * are met:
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10 | *
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11 | * * Redistributions of source code must retain the above copyright
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12 | * notice, this list of conditions and the following disclaimer.
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13 | * * Redistributions in binary form must reproduce the above
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14 | * copyright notice, this list of conditions and the following
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15 | * disclaimer in the documentation and/or other materials provided
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16 | * with the distribution.
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17 | * * Neither the name of Willow Garage, Inc. nor the names of its
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18 | * contributors may be used to endorse or promote prducts derived
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19 | * from this software without specific prior written permission.
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20 | *
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21 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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22 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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23 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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24 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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25 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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26 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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27 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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28 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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29 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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30 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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31 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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32 | * POSSIBILITY OF SUCH DAMAGE.
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33 | */
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34 | |||
35 | #ifndef ROS_TF_H_
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36 | #define ROS_TF_H_
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37 | |||
38 | #include "geometry_msgs/TransformStamped.h" |
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39 | |||
40 | namespace tf |
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41 | { |
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42 | |||
43 | geometry_msgs::Quaternion createQuaternionFromYaw(double yaw)
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44 | { |
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45 | geometry_msgs::Quaternion q; |
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46 | q.x = 0;
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47 | q.y = 0;
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48 | q.z = sin(yaw * 0.5); |
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49 | q.w = cos(yaw * 0.5); |
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50 | return q;
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51 | } |
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52 | |||
53 | } |
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54 | |||
55 | #endif
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