move the forward declaration, and remove clang workaround.

Author: seanyen

tf2/include/tf2/convert.h

@@ -84,24 +84,6 @@ template <class P>
     return t.frame_id_;
   }
 
-/** Function that converts from one type to a ROS message type. It has to be
- * implemented by each data type in tf2_* (except ROS messages) as it is
- * used in the "convert" function.
- * \param a an object of whatever type
- * \return the conversion as a ROS message
- */
-template<typename A, typename B>
-  B toMsg(const A& a);
-
-/** Function that converts from a ROS message type to another type. It has to be
- * implemented by each data type in tf2_* (except ROS messages) as it is used
- * in the "convert" function.
- * \param a a ROS message to convert from
- * \param b the object to convert to
- */
-template<typename A, typename B>
-  void fromMsg(const A&, B& b);
-
 /** Function that converts any type to any type (messages or not).
  * Matching toMsg and from Msg conversion functions need to exist.
  * If they don't exist or do not apply (for example, if your two

tf2/include/tf2/impl/convert.h

@@ -31,6 +31,25 @@
 #define TF2_IMPL_CONVERT_H
 
 namespace tf2 {
+
+/** Function that converts from one type to a ROS message type. It has to be
+ * implemented by each data type in tf2_* (except ROS messages) as it is
+ * used in the "convert" function.
+ * \param a an object of whatever type
+ * \return the conversion as a ROS message
+ */
+template<typename A, typename B>
+  B toMsg(const A& a);
+
+/** Function that converts from a ROS message type to another type. It has to be
+ * implemented by each data type in tf2_* (except ROS messages) as it is used
+ * in the "convert" function.
+ * \param a a ROS message to convert from
+ * \param b the object to convert to
+ */
+template<typename A, typename B>
+  void fromMsg(const A&, B& b);
+
 namespace impl {
 
 template <bool IS_MESSAGE_A, bool IS_MESSAGE_B>

tf2_eigen/include/tf2_eigen/tf2_eigen.h

@@ -520,66 +520,4 @@ void fromMsg(const geometry_msgs::PoseStamped& msg, tf2::Stamped<Eigen::Isometry
 
 } // namespace
 
-
-namespace Eigen {
-// This is needed to make the usage of the following conversion functions usable in tf2::convert().
-// According to clangs error note 'fromMsg'/'toMsg' should be declared prior to the call site or
-// in an associated namespace of one of its arguments. The stamped versions of this conversion
-// functions work because they have tf2::Stamped as an argument which is the same namespace as
-// which 'fromMsg'/'toMsg' is defined in. The non-stamped versions have no argument which is
-// defined in tf2, so it take the following definitions in Eigen namespace to make them usable in
-// tf2::convert().
-
-inline
-geometry_msgs::Pose toMsg(const Eigen::Affine3d& in) {
-  return tf2::toMsg(in);
-}
-
-inline
-geometry_msgs::Pose toMsg(const Eigen::Isometry3d& in) {
-  return tf2::toMsg(in);
-}
-
-inline
-void fromMsg(const geometry_msgs::Point& msg, Eigen::Vector3d& out) {
-  tf2::fromMsg(msg, out);
-}
-
-inline
-geometry_msgs::Point toMsg(const Eigen::Vector3d& in) {
-  return tf2::toMsg(in);
-}
-
-inline
-void fromMsg(const geometry_msgs::Pose& msg, Eigen::Affine3d& out) {
-  tf2::fromMsg(msg, out);
-}
-
-inline
-void fromMsg(const geometry_msgs::Pose& msg, Eigen::Isometry3d& out) {
-  tf2::fromMsg(msg, out);
-}
-
-inline
-geometry_msgs::Quaternion toMsg(const Eigen::Quaterniond& in) {
-  return tf2::toMsg(in);
-}
-
-inline
-void fromMsg(const geometry_msgs::Quaternion& msg, Eigen::Quaterniond& out) {
-  tf2::fromMsg(msg, out);
-}
-
-inline
-geometry_msgs::Twist toMsg(const Eigen::Matrix<double,6,1>& in) {
-  return tf2::toMsg(in);
-}
-
-inline
-void fromMsg(const geometry_msgs::Twist &msg, Eigen::Matrix<double,6,1>& out) {
-  tf2::fromMsg(msg, out);
-}
-
-} // namespace
-
 #endif // TF2_EIGEN_H