示例#1
0
        public void transformQuaternion(string target_frame, Stamped <emQuaternion> stamped_in, ref Stamped <emQuaternion> stamped_out)
        {
            emTransform trans = new emTransform();

            lookupTransform(target_frame, stamped_in.frame_id, stamped_in.stamp, out trans);
            if (stamped_out == null)
            {
                stamped_out = new Stamped <emQuaternion>();
            }
            stamped_out.data     = trans * stamped_in.data;
            stamped_out.stamp    = trans.stamp;
            stamped_out.frame_id = target_frame;
        }