rosAPI类/命名空间/函数

一.tf:

一.transformBroadcaster(类):
1.
<code>
void TransformBroadcaster::sendTransform(const StampedTransform & transform)
{
     geometry_msgs::TransformStamped msgtf;
     transformStampedTFToMsg(transform, msgtf);
     tf2_broadcaster_.sendTransform(msgtf);
} 
</code>

二.
1.
<code>
StampedTransform(const tf::Transform& input, const ros::Time& timestamp, 
                 const std::string & frame_id, const std::string & child_frame_id)
</code>
三.Transform:
1.
<code>
TFSIMD_FORCE_INLINE void setOrigin(const Vector3& origin) 
{ 
    m_origin = origin;
}
</code>
<code>
TFSIMD_FORCE_INLINE void setRotation(const Quaternion& q)
{
   m_basis.setRotation(q);
}
void setRotation(const Quaternion& q) 
{
         tf2Scalar d = q.length2();
         tf2FullAssert(d != tf2Scalar(0.0));
         tf2Scalar s = tf2Scalar(2.0) / d;
         tf2Scalar xs = q.x() * s,   ys = q.y() * s,   zs = q.z() * s;
         tf2Scalar wx = q.w() * xs,  wy = q.w() * ys,  wz = q.w() * zs;
         tf2Scalar xx = q.x() * xs,  xy = q.x() * ys,  xz = q.x() * zs;
         tf2Scalar yy = q.y() * ys,  yz = q.y() * zs,  zz = q.z() * zs;
         setValue(tf2Scalar(1.0) - (yy + zz), xy - wz, xz + wy,
             xy + wz, tf2Scalar(1.0) - (xx + zz), yz - wx,
             xz - wy, yz + wx, tf2Scalar(1.0) - (xx + yy));
}
</code>
四Quaternion：
<code>
void setRPY(const tfScalar& roll, const tfScalar& pitch, const tfScalar& yaw)
{
       tfScalar halfYaw = tfScalar(yaw) * tfScalar(0.5);  
       tfScalar halfPitch = tfScalar(pitch) * tfScalar(0.5);  
       tfScalar halfRoll = tfScalar(roll) * tfScalar(0.5);  
       tfScalar cosYaw = tfCos(halfYaw);
       tfScalar sinYaw = tfSin(halfYaw);
       tfScalar cosPitch = tfCos(halfPitch);
       tfScalar sinPitch = tfSin(halfPitch);
       tfScalar cosRoll = tfCos(halfRoll);
       tfScalar sinRoll = tfSin(halfRoll);
       setValue(sinRoll * cosPitch * cosYaw - cosRoll * sinPitch * sinYaw, //x
       cosRoll * sinPitch * cosYaw + sinRoll * cosPitch * sinYaw, //y
       cosRoll * cosPitch * sinYaw - sinRoll * sinPitch * cosYaw, //z
       cosRoll * cosPitch * cosYaw + sinRoll * sinPitch * sinYaw); //formerly yzx
}
</code>