TF2坐标变换库与工具综述.pdfVIP

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geometry2(/geometry2?distronoetic)：tf2|tf2_bullet(/tf2_bullet?distronoetic)|tf2_eigen(/tf2_

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eigen?distronoetic)|tf2_geometrymsgs(/tf2_geometrymsgs?distronoetic)|tf2_kdl(/tf2_kdl?distro=

noetic)|tf2_msgs(/tf2_msgs?distronoetic)|tf2_py(/tf2_py?distronoetic)|tf2_ros(/tf2_ros?distro=

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noetic)|tf2_sensormsgs(/tf2_sensormsgs?distronoetic)|tf2_tools(/tf2_tools?distronoetic)

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包概述

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tf2是变换库的第二代版本，它允许用户随时间推移多个坐标系。tf2使用时间缓冲的树状结构维

护坐标系之间的关系，并允许用户在任意两个坐标系之间、在任意期望的时间点上变换点、向量等。

状态:已者:塔利・福特tfooteATosrfoundationDOTorg作者:塔利・福特、

马尔德‑埃普斯坦、维姆・梅森证:BSD源代码:git

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noetic‑devel)

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geometry2(/geometry2?distro=noetic):tf2|tf2_bullet(/tf2_bullet?distro=noetic)|tf2_eigen

(/tf2_eigen?distro=noetic)|tf2_geometry_msgs(/tf2_geometry_msgs?distro=noetic)|tf2_kdl(/tf2_kdl?

distro=noetic)|tf2_msgs(/tf2_msgs?distro=noetic)|tf2_py(/tf2_py?distro=noetic)|tf2_ros(/tf2_ros?

distro=noetic)|tf2_sensor_msgs(/tf2_sensor_msgs?distro=noetic)|tf2_tools(/tf2_tools?distro=noetic)

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