Create transformation functions for messages
Description
Create a collection of functions to transform messages into a different coordinate frame.
Purpose
Various parts of the code require/could be improved by a library that can accurately transform messages. It's tricky to implement correctly.
Desired Behavior
The library should be independent of tf2. Not all nodes get their transforms from tf2. Instead it should be done on the Eigen level. Perhaps we can write tf2::doTransform
and tf2 wrappers for a subset where it makes sense to do so.
Definition of Done
-
Implement for PoseWithCovariance
,TwistWithCovariance
,Odometry
,RelativePositionWithCovariance
,TrackedObjectArray
,PredictedObjectArray
Edited by Nikolai Morin