53 #ifndef _LIBS_TF_UTILS_H_
54 #define _LIBS_TF_UTILS_H_
67 resolve(
const std::string &prefix,
const std::string &frame_name)
69 if (frame_name.size() > 0) {
70 if (frame_name[0] ==
'/') {
74 if (prefix.size() > 0) {
75 if (prefix[0] ==
'/') {
76 std::string composite = prefix;
77 composite.append(
"/");
78 composite.append(frame_name);
81 std::string composite;
83 composite.append(prefix);
84 composite.append(
"/");
85 composite.append(frame_name);
89 std::string composite;
91 composite.append(frame_name);
105 ident(std::string frame, Time t = Time(0, 0))
107 return tf::Stamped<tf::Pose>(tf::Transform(tf::Quaternion(0, 0, 0, 1), tf::Vector3(0, 0, 0)),
118 resize_vector(
const Vector3 &v,
double s)
120 return v.normalized() * s;
128 starts_with_slash(
const std::string &frame_id)
130 return (frame_id.size() > 0) && (frame_id[0] ==
'/');
138 strip_slash(
const std::string &in)
140 if (starts_with_slash(in))
Fawkes library namespace.