tf2_bullet/include/tf2_bullet/tf2_bullet.hpp
inline
btTransform transformToBullet(const geometry_msgs::msg::TransformStamped & t)
{
  return btTransform(
    btQuaternion(
      static_cast<float>(t.transform.rotation.x),
      static_cast<float>(t.transform.rotation.y),
      static_cast<float>(t.transform.rotation.z),
      static_cast<float>(t.transform.rotation.w)),
    btVector3(
      static_cast<float>(t.transform.translation.x),
      static_cast<float>(t.transform.translation.y),
      static_cast<float>(t.transform.translation.z)));
}
/** \brief Convert a timestamped transform to the equivalent Bullet data type.
 * \param t The transform to convert, as a geometry_msgs TransformedStamped message.
 * \return The transform message converted to a Bullet btTransform.
 */
\brief Convert a timestamped transform to the equivalent Bullet data type.
\param t The transform to convert, as a geometry_msgs TransformedStamped message.
\return The transform message converted to a Bullet btTransform.
\ brief Convert a timestamped transform to the equivalent Bullet data type . \ param t The transform to convert as a geometry_msgs TransformedStamped message . \ return The transform message converted to a Bullet btTransform .
inline
btTransform transformToBullet(const geometry_msgs::msg::TransformStamped & t)
{
  return btTransform(
    btQuaternion(
      static_cast<float>(t.transform.rotation.x),
      static_cast<float>(t.transform.rotation.y),
      static_cast<float>(t.transform.rotation.z),
      static_cast<float>(t.transform.rotation.w)),
    btVector3(
      static_cast<float>(t.transform.translation.x),
      static_cast<float>(t.transform.translation.y),
      static_cast<float>(t.transform.translation.z)));
}
inline btTransform transformToBullet ( const geometry_msgs :: msg :: TransformStamped & t ) { return btTransform ( btQuaternion ( static_cast < float > ( t . transform . rotation . x ) , static_cast < float > ( t . transform . rotation . y ) , static_cast < float > ( t . transform . rotation . z ) , static_cast < float > ( t . transform . rotation . w ) ) , btVector3 ( static_cast < float > ( t . transform . translation . x ) , static_cast < float > ( t . transform . translation . y ) , static_cast < float > ( t . transform . translation . z ) ) ) ; }
\brief Convert a timestamped transform to the equivalent Bullet data type.
\ brief Convert a timestamped transform to the equivalent Bullet data type .