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#ifndef _TRANSFORM_WRAPPER_CPP
#define _TRANSFORM_WRAPPER_CPP

#include <bo_polygon2d/transform_wrapper.h>


class_transform_wrapper::class_transform_wrapper(void){is_null_transform=false;};
class_transform_wrapper::~class_transform_wrapper(void){};

int class_transform_wrapper::set_transform(tf::Transform* st)
{
        transform.setRotation(st->getRotation());       
        transform.setOrigin(st->getOrigin());
        return 1;
}


int class_transform_wrapper::set_null_transform(void){is_null_transform=true;return 1;};


int class_transform_wrapper::transform_global_to_local(pcl::PointCloud<pcl::PointXYZ>* pc_global, pcl::PointCloud<pcl::PointXYZ>* pc_local)
{
        if (!is_null_transform)
        {
                pcl_ros::transformPointCloud(*pc_global, *pc_local, transform); 
        }
        else
        {
                (*pc_local)= (*pc_global);
        }
        return 1;
}

int class_transform_wrapper::transform_local_to_global(pcl::PointCloud<pcl::PointXYZ>* pc_local, pcl::PointCloud<pcl::PointXYZ>* pc_global)
{
        if (!is_null_transform)
        {
                pcl_ros::transformPointCloud(*pc_local, *pc_global, transform.inverse()); 
        }
        else
        {
                (*pc_global)= (*pc_local);
        }
        return 1;
}


#endif

---

bo_polygon2d
Author(s): Miguel Oliveira
autogenerated on Wed Jul 23 04:35:28 2014