public TransformListener()
{
if (buf == IntPtr.Zero)
{
buf = TransformListenerDelegates.native_construct_buffer();
}
if (listener == IntPtr.Zero)
{
listener = TransformListenerDelegates.native_construct_listener(buf);
}
}
/// <summary>
/// Returns the ROS2 rotation between frames 'from' and 'to', or null
/// if one or more of the frames do not exist.
/// </summary>
/// <param name="from"></param>
/// <param name="to"></param>
/// <returns></returns>
public TfQuaternion?LookupRotation(string from, string to)
{
IntPtr transformHandle = IntPtr.Zero;
transformHandle = TransformListenerDelegates.native_lookup_transform(buf,
from, to, TransformListenerDelegates.native_construct_time(0, 0));
if (transformHandle == IntPtr.Zero)
{
return(null);
}
TfQuaternion output = new TfQuaternion();
TransformListenerDelegates.native_retrieve_rotation(transformHandle, out output);
return(output);
}
