use kdl

example

• e.x. tf to kdl see
  • https://yuiwong.org/gitlab/ros/ros
  • http://www.orocos.org/

cmake

• ros package: tf_conversions when ros

• cmake

find_package(orocos_kdl REQUIRED)
find_package(kdl_conversions REQUIRED)

${orocos_kdl_LIBRARIES}
${kdl_conversions_LIBRARIES}

• see also

  • https://yuiwong.org/gitlab/math/math/
  • https://yuiwong.org/2017/08/29/use-kdl/