Deprecate ToTransform and TransformTo Functions

Author: gleichdick

tf2_bullet/include/tf2_bullet/tf2_bullet.h

@@ -152,7 +152,9 @@ struct DefaultTransformType<btQuaternion>
  * \param[in] 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)
+[[deprecated("Please use tf2::fromMsg()")]]
+inline btTransform transformToBullet(
+  const geometry_msgs::msg::TransformStamped & t)
 {
   btTransform ans;
   fromMsg<>(t.transform, ans);

tf2_eigen/include/tf2_eigen/tf2_eigen.h

@@ -47,7 +47,9 @@ namespace tf2
  * \param t The transform to convert, as a geometry_msgs Transform message.
  * \return The transform message converted to an Eigen Isometry3d transform.
  */
-inline Eigen::Isometry3d transformToEigen(const geometry_msgs::msg::Transform & t)
+[[deprecated("Please use tf2::fromMsg()")]]
+inline Eigen::Isometry3d transformToEigen(
+  const geometry_msgs::msg::Transform & t)
 {
   Eigen::Isometry3d res;
   tf2::fromMsg<>(t, res);
@@ -58,17 +60,23 @@ inline Eigen::Isometry3d transformToEigen(const geometry_msgs::msg::Transform &
  * \param t The transform to convert, as a geometry_msgs TransformedStamped message.
  * \return The transform message converted to an Eigen Isometry3d transform.
  */
+[[deprecated("Please use tf2::fromMsg()")]]
 inline
-Eigen::Isometry3d transformToEigen(const geometry_msgs::msg::TransformStamped & t)
+Eigen::Isometry3d transformToEigen(
+  const geometry_msgs::msg::TransformStamped & t)
 {
-  return transformToEigen(t.transform);
+  Eigen::Isometry3d res;
+  tf2::fromMsg<>(t.transform, res);
+  return res;
 }
 
 /** \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.
  */
-inline geometry_msgs::msg::TransformStamped eigenToTransform(const Eigen::Affine3d & T)
+[[deprecated("Please use tf2::toMsg()")]]
+inline geometry_msgs::msg::TransformStamped
+eigenToTransform(const Eigen::Affine3d & T)
 {
   geometry_msgs::msg::TransformStamped t;
   tf2::toMsg<>(T, t.transform);
@@ -79,7 +87,9 @@ inline geometry_msgs::msg::TransformStamped eigenToTransform(const Eigen::Affine
  * \param T The transform to convert, as an Eigen Isometry3d transform.
  * \return The transform converted to a TransformStamped message.
  */
-inline geometry_msgs::msg::TransformStamped eigenToTransform(const Eigen::Isometry3d & T)
+[[deprecated("Please use tf2::toMsg()")]]
+inline geometry_msgs::msg::TransformStamped
+eigenToTransform(const Eigen::Isometry3d & T)
 {
   geometry_msgs::msg::TransformStamped t;
   tf2::toMsg<>(T, t.transform);

tf2_eigen/test/tf2_eigen-test.cpp

@@ -132,7 +132,8 @@ TEST(TfEigen, ConvertTransform)
 
   geometry_msgs::msg::Transform msg;
   tf2::toMsg(T, msg);
-  Eigen::Affine3d Tback = tf2::transformToEigen(msg);
+  Eigen::Affine3d Tback;
+  tf2::fromMsg(msg, Tback);
 
   EXPECT_TRUE(T.isApprox(Tback));
   EXPECT_TRUE(tm.isApprox(Tback.matrix()));
@@ -141,7 +142,8 @@ TEST(TfEigen, ConvertTransform)
   Eigen::Isometry3d I(tm);
 
   tf2::toMsg(T, msg);
-  Eigen::Isometry3d Iback = tf2::transformToEigen(msg);
+  Eigen::Isometry3d Iback;
+  tf2::fromMsg(msg, Iback);
 
   EXPECT_TRUE(I.isApprox(Iback));
   EXPECT_TRUE(tm.isApprox(Iback.matrix()));

tf2_geometry_msgs/include/tf2_geometry_msgs/tf2_geometry_msgs.h

@@ -62,8 +62,10 @@ namespace tf2
  * \param t TransformStamped message to convert.
  * \return The converted KDL Frame.
  */
+[[deprecated("Please use tf2::fromMsg()")]]
 inline
-KDL::Frame gmTransformToKDL(const geometry_msgs::msg::TransformStamped & t)
+KDL::Frame
+gmTransformToKDL(const geometry_msgs::msg::TransformStamped & t)
 {
   return KDL::Frame(
     KDL::Rotation::Quaternion(

tf2_kdl/include/tf2_kdl/tf2_kdl.h

@@ -56,7 +56,9 @@ namespace tf2
  * \param[in] t The transform to convert, as a geometry_msgs TransformedStamped message.
  * \return The transform message converted to an KDL Frame.
  */
-inline KDL::Frame transformToKDL(const geometry_msgs::msg::TransformStamped & t)
+[[deprecated("Please use tf2::fromMsg()")]] inline KDL::Frame
+transformToKDL(
+  const geometry_msgs::msg::TransformStamped & t)
 {
   KDL::Frame ans;
   tf2::fromMsg<>(t.transform, ans);
@@ -67,7 +69,8 @@ inline KDL::Frame transformToKDL(const geometry_msgs::msg::TransformStamped & t)
  * \param[in] k The transform to convert, as an KDL Frame.
  * \return The transform converted to a TransformStamped message.
  */
-inline geometry_msgs::msg::TransformStamped kdlToTransform(const KDL::Frame & k)
+[[deprecated("Please use tf2::toMsg()")]] inline geometry_msgs::msg::TransformStamped
+kdlToTransform(const KDL::Frame & k)
 {
   geometry_msgs::msg::TransformStamped ans;
   tf2::toMsg<>(k, ans.transform);