.. _program_listing_file_include_tf2_utils.hpp:

Program Listing for File utils.hpp
==================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_tf2_utils.hpp>` (``include/tf2/utils.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2014 Open Source Robotics Foundation, Inc.
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   #ifndef TF2__UTILS_HPP_
   #define TF2__UTILS_HPP_
   
   #include <tf2/visibility_control.h>
   
   #include <tf2/LinearMath/Transform.hpp>
   #include <tf2/LinearMath/Quaternion.hpp>
   #include <tf2/impl/utils.hpp>
   
   namespace tf2
   {
   template<class A>
   void getEulerYPR(const A & a, double & yaw, double & pitch, double & roll)
   {
     tf2::Quaternion q = impl::toQuaternion(a);
     impl::getEulerYPR(q, yaw, pitch, roll);
   }
   
   template<class A>
   double getYaw(const A & a)
   {
     tf2::Quaternion q = impl::toQuaternion(a);
     return impl::getYaw(q);
   }
   
   template<class A>
   A getTransformIdentity()
   {
     tf2::Transform t;
     t.setIdentity();
     A a;
     convert(t, a);
     return a;
   }
   }  // namespace tf2
   #endif  // TF2__UTILS_HPP_