Metadata-Version: 1.0
Name: dual-quaternions-ros
Version: 0.1.4
Summary: Dual quaternion ROS converter
Home-page: http://github.com/Achllle/dual_quaternions_ros/tree/master/dual_quaternions_ros
Author: Achille Verheye
Author-email: achille.verheye@gmail.com
License: MIT
Description: Dual Quaternions ROS
        ====================
        
        |travis| |tags|
        
        .. |travis| image:: https://travis-ci.com/Achllle/dual_quaternions_ros.svg?branch=master
            :target: https://travis-ci.com/Achllle/dual_quaternions_ros
        
        .. |tags| image:: https://img.shields.io/github/v/tag/achllle/dual_quaternions_ros
            :alt: GitHub tag (latest SemVer)
            :target: https://GitHub.com/Achllle/dual_quaternions_ros/tags/
        
        Simple conversion methods for going from ROS `geometry_msgs` to dual quaternions and vice versa.
        For the dual_quaternions repo, see `dual_quaternions <https://github.com/Achllle/dual_quaternions>`__.
        
        Installation
        ------------
        
        pip
        ~~~
        
        .. code-block:: bash
        
          pip install dual_quaternions
        
        ROS package
        ~~~~~~~~~~~
        
        Release into apt is on its way. Until then you'll have to build the catkin package from source.
        
        .. code-block:: bash
        
          cd ~/catkin_ws/src
          git clone https://github.com/Achllle/dual_quaternions_ros
          cd ..
          rosdep install --from-paths src/dual_quaternions_ros --ignore-src
          catkin_make
        
        Requirements
        ~~~~~~~~~~~~
        
        * dual_quaternions
        * geometry_msgs
        
        Usage
        -----
        
        Import using::
        
            from dual_quaternions_ros import from_ros, to_ros_pose, to_ros_transform
        
        NOTE: there is no concept of 'from' and 'to' as frame names aren't tracked or used (e.g. use of Pose iso PoseStamped).
        It is up to the user to keep track of those to avoid picking a convention (active vs. passive)
        
        Publishing and getting transforms from tf
        ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
        
        This package purposefully doesn't have methods to receive and publish transforms to tf. Instead, it supports converting
        transforms to various ROS messages so you can use the standard way of interfacing: ::
        
            br = tf2_ros.TransformBroadcaster()
            T_odom_baselink = DualQuaternion(...)
            msg = geometry_msgs.msg.TransformStamped()
            msg.transform = T_odom_baselink.to_ros_transform
            msg.header.frame_id = 'odom'
            msg.child_frame_id = 'base_link'
            br.sendTransform(msg)
        
Platform: UNKNOWN
