public static NamedTransform ToNamedTransform(Rox.Transform tf)
{
var o = new NamedTransform();
o.transform = ToTransform(tf);
o.child_frame.name = tf.Child_frame_id ?? "";
o.parent_frame.name = tf.Parent_frame_id ?? "";
return(o);
}
public static Rox.Transform ToTransform(NamedTransform tf)
{
return(new Rox.Transform(Q2R(ToVector(tf.transform.rotation)), ToVector(tf.transform.translation), tf.parent_frame.name, tf.child_frame.name));
}
