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fix(autoware_auto_tf2): remove tf2 geometry function duplicated in tf2 geometry msgs #882

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Sep 27, 2023
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fix(autoware_auto_tf2): remove tf2 geometry function duplicated in tf2 geometry msgs #882

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50 changes: 0 additions & 50 deletions common/autoware_auto_tf2/include/autoware_auto_tf2/tf2_autoware_auto_msgs.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -45,56 +45,6 @@ using BoundingBox = autoware_auto_perception_msgs::msg::BoundingBox;

namespace tf2
{

/*************/
/** Point32 **/
/*************/

/** \brief Apply a geometry_msgs TransformStamped to a geometry_msgs Point32 type.
* This function is a specialization of the doTransform template defined in tf2/convert.h.
* \param t_in The point to transform, as a Point32 message.
* \param t_out The transformed point, as a Point32 message.
* \param transform The timestamped transform to apply, as a TransformStamped message.
*/
template <>
inline void doTransform(
const geometry_msgs::msg::Point32 & t_in, geometry_msgs::msg::Point32 & t_out,
const geometry_msgs::msg::TransformStamped & transform)
{
const KDL::Vector v_out = gmTransformToKDL(transform) * KDL::Vector(t_in.x, t_in.y, t_in.z);
t_out.x = static_cast<float>(v_out[0]);
t_out.y = static_cast<float>(v_out[1]);
t_out.z = static_cast<float>(v_out[2]);
}

/*************/
/** Polygon **/
/*************/

/** \brief Apply a geometry_msgs TransformStamped to a geometry_msgs Polygon type.
* This function is a specialization of the doTransform template defined in tf2/convert.h.
* \param t_in The polygon to transform.
* \param t_out The transformed polygon.
* \param transform The timestamped transform to apply, as a TransformStamped message.
*/
template <>
inline void doTransform(
const geometry_msgs::msg::Polygon & t_in, geometry_msgs::msg::Polygon & t_out,
const geometry_msgs::msg::TransformStamped & transform)
{
// Don't call the Point32 doTransform to avoid doing this conversion every time
const auto kdl_frame = gmTransformToKDL(transform);
// We don't use std::back_inserter to allow aliasing between t_in and t_out
t_out.points.resize(t_in.points.size());
for (size_t i = 0; i < t_in.points.size(); ++i) {
const KDL::Vector v_out =
kdl_frame * KDL::Vector(t_in.points[i].x, t_in.points[i].y, t_in.points[i].z);
t_out.points[i].x = static_cast<float>(v_out[0]);
t_out.points[i].y = static_cast<float>(v_out[1]);
t_out.points[i].z = static_cast<float>(v_out[2]);
}
}

/******************/
/** Quaternion32 **/
/******************/
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