rosApplyTransform

Transform message entities into target frame

Syntax

tfentity = rosApplyTransform(tfmsg,entity)

Description

tfentity = rosApplyTransform(tfmsg,entity) applies the transformation represented by the 'TransformStamped' ROS message to the input message object entity.

This function determines the message type of entity and apples the appropriate transformation method to it.

Input Arguments

tfmsg — Transformation message

TransformStamped ROS message structure

Transformation message, specified as a TransformStamped ROS message handle. The tfmsg is a ROS message of type: 'geometry_msgs/TransformStamped'.

entity — ROS message

message structure

ROS message, specified as a message structure.

Supported messages are:

• geometry_msgs/PointStamped

• sensor_msgs/PointCloud2

• geometry_msgs/PoseStamped

• geometry_msgs/QuaternionStamped

• geometry_msgs/Vector3Stamped

Output Arguments

tfentity — Transformed ROS message

message structure

Transformed ROS message, returned as a message structure.

Extended Capabilities

C/C++ Code Generation

Generate C and C++ code using MATLAB® Coder™.

Usage notes and limitations:

• Usage in MATLAB Function block is not supported.

Version History

Introduced in R2021a