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Transform message entities into target frame


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

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

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

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Transformed ROS message, returned as a message structure.

Extended Capabilities

Version History

Introduced in R2021a

See Also