transform_graph is a library that computes transformations betweens arbitrary frames in a graph of transformations.
See the generated documentation for details.
Basic example:
#include "transform_graph/transform_graph.h"
transform_graph::Graph graph;
graph.Add("wrist", transform_graph::RefFrame("base_link"), wrist_pose_stamped);
graph.Add("kinect", transform_graph::RefFrame("base_link"), kinect_pose_stamped);
// Find out if a point in the frame of the Kinect is near the wrist.
pcl::PointXYZ point_in_kinect = ...;
transform_graph::Position point_in_wrist;
graph.DescribePosition(point_in_kinect, transform_graph::Source("kinect"), transform_graph::Target("wrist"), &point_in_wrist);
if (point_in_wrist.vector().norm() < 0.05) {
...
}