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tf2_eigen: Deprecate methods using Affine3d. #371

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tf2_eigen: Deprecate methods using Affine3d. #371

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27 changes: 18 additions & 9 deletions tf2_eigen/include/tf2_eigen/tf2_eigen.h
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Original file line number Diff line number Diff line change
Expand Up @@ -62,9 +62,10 @@ Eigen::Isometry3d transformToEigen(const geometry_msgs::TransformStamped& t) {
/** \brief Convert an Eigen Affine3d transform to the equivalent geometry_msgs message type.
* \param T The transform to convert, as an Eigen Affine3d transform.
* \return The transform converted to a TransformStamped message.
* \deprecated Use Isometry3d instead.
*/
inline
geometry_msgs::TransformStamped eigenToTransform(const Eigen::Affine3d& T)
ROS_DEPRECATED geometry_msgs::TransformStamped eigenToTransform(const Eigen::Affine3d& T)
{
geometry_msgs::TransformStamped t;
t.transform.translation.x = T.translation().x();
Expand Down Expand Up @@ -223,12 +224,14 @@ void fromMsg(const geometry_msgs::PointStamped& msg, tf2::Stamped<Eigen::Vector3
* \param t_in The frame to transform, as a Eigen Affine3d transform.
* \param t_out The transformed frame, as a Eigen Affine3d transform.
* \param transform The timestamped transform to apply, as a TransformStamped message.
* \deprecated Use Isometry3d instead.
*/
template <>
inline
void doTransform(const Eigen::Affine3d& t_in,
Eigen::Affine3d& t_out,
const geometry_msgs::TransformStamped& transform) {
ROS_DEPRECATED void doTransform(
const Eigen::Affine3d& t_in,
Eigen::Affine3d& t_out,
const geometry_msgs::TransformStamped& transform) {
t_out = Eigen::Affine3d(transformToEigen(transform) * t_in);
}

Expand Down Expand Up @@ -330,9 +333,10 @@ void doTransform(const tf2::Stamped<Eigen::Quaterniond>& t_in,
* This function is a specialization of the toMsg template defined in tf2/convert.h.
* \param in The Eigen Affine3d to convert.
* \return The Eigen transform converted to a Pose message.
* \deprecated Use Isometry3d instead.
*/
inline
geometry_msgs::Pose toMsg(const Eigen::Affine3d& in) {
ROS_DEPRECATED geometry_msgs::Pose toMsg(const Eigen::Affine3d& in) {
geometry_msgs::Pose msg;
msg.position.x = in.translation().x();
msg.position.y = in.translation().y();
Expand Down Expand Up @@ -380,9 +384,10 @@ geometry_msgs::Pose toMsg(const Eigen::Isometry3d& in) {
* This function is a specialization of the toMsg template defined in tf2/convert.h.
* \param msg The Pose message to convert.
* \param out The pose converted to a Eigen Affine3d.
* \deprecated USe Isometry3d instead.
*/
inline
void fromMsg(const geometry_msgs::Pose& msg, Eigen::Affine3d& out) {
ROS_DEPRECATED void fromMsg(const geometry_msgs::Pose& msg, Eigen::Affine3d& out) {
out = Eigen::Affine3d(
Eigen::Translation3d(msg.position.x, msg.position.y, msg.position.z) *
Eigen::Quaterniond(msg.orientation.w,
Expand Down Expand Up @@ -446,10 +451,11 @@ void fromMsg(const geometry_msgs::Twist &msg, Eigen::Matrix<double,6,1>& out) {
* \param t_in The frame to transform, as a timestamped Eigen Affine3d transform.
* \param t_out The transformed frame, as a timestamped Eigen Affine3d transform.
* \param transform The timestamped transform to apply, as a TransformStamped message.
* \deprecated Use Isometry3d instead.
*/
template <>
inline
void doTransform(const tf2::Stamped<Eigen::Affine3d>& t_in,
ROS_DEPRECATED void doTransform(const tf2::Stamped<Eigen::Affine3d>& t_in,
tf2::Stamped<Eigen::Affine3d>& t_out,
const geometry_msgs::TransformStamped& transform) {
t_out = tf2::Stamped<Eigen::Affine3d>(transformToEigen(transform) * t_in, transform.header.stamp, transform.header.frame_id);
Expand All @@ -476,9 +482,10 @@ void doTransform(const tf2::Stamped<Eigen::Isometry3d>& t_in,
* This function is a specialization of the toMsg template defined in tf2/convert.h.
* \param in The timestamped Eigen Affine3d to convert.
* \return The Eigen transform converted to a PoseStamped message.
* \deprecated Use Isometry3d instead.
*/
inline
geometry_msgs::PoseStamped toMsg(const tf2::Stamped<Eigen::Affine3d>& in)
ROS_DEPRECATED geometry_msgs::PoseStamped toMsg(const tf2::Stamped<Eigen::Affine3d>& in)
{
geometry_msgs::PoseStamped msg;
msg.header.stamp = in.stamp_;
Expand All @@ -501,9 +508,11 @@ geometry_msgs::PoseStamped toMsg(const tf2::Stamped<Eigen::Isometry3d>& in)
* This function is a specialization of the toMsg template defined in tf2/convert.h.
* \param msg The PoseStamped message to convert.
* \param out The pose converted to a timestamped Eigen Affine3d.
* \deprecated Use Isometry3d instead.
*/
inline
void fromMsg(const geometry_msgs::PoseStamped& msg, tf2::Stamped<Eigen::Affine3d>& out)
ROS_DEPRECATED void fromMsg(const geometry_msgs::PoseStamped& msg,
tf2::Stamped<Eigen::Affine3d>& out)
{
out.stamp_ = msg.header.stamp;
out.frame_id_ = msg.header.frame_id;
Expand Down