eigen_kdl.h
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29 
30 /*
31  * Author: Adam Leeper, Stuart Glaser
32  */
33 
34 #ifndef EIGEN_KDL_CONVERSIONS_H
35 #define EIGEN_KDL_CONVERSIONS_H
36 
37 #include <Eigen/Core>
38 #include <Eigen/Geometry>
39 
40 #include <kdl/frames.hpp>
41 
42 namespace tf {
43 
45 void quaternionKDLToEigen(const KDL::Rotation &k, Eigen::Quaterniond &e);
46 
48 void quaternionEigenToKDL(const Eigen::Quaterniond &e, KDL::Rotation &k);
49 
51 void transformKDLToEigen(const KDL::Frame &k, Eigen::Affine3d &e);
52 
54 void transformKDLToEigen(const KDL::Frame &k, Eigen::Isometry3d &e);
55 
57 void transformEigenToKDL(const Eigen::Affine3d &e, KDL::Frame &k);
58 
60 void transformEigenToKDL(const Eigen::Isometry3d &e, KDL::Frame &k);
61 
63 void twistKDLToEigen(const KDL::Twist &k, Eigen::Matrix<double, 6, 1> &e);
64 
66 void twistEigenToKDL(const Eigen::Matrix<double, 6, 1> &e, KDL::Twist &k);
67 
69 void vectorKDLToEigen(const KDL::Vector &k, Eigen::Matrix<double, 3, 1> &e);
70 
72 void vectorEigenToKDL(const Eigen::Matrix<double, 3, 1> &e, KDL::Vector &k);
73 
75 void wrenchKDLToEigen(const KDL::Wrench &k, Eigen::Matrix<double, 6, 1> &e);
76 
78 void wrenchEigenToKDL(const Eigen::Matrix<double, 6, 1> &e, KDL::Wrench &k);
79 
80 } // namespace
81 
82 #endif
tf::twistKDLToEigen
void twistKDLToEigen(const KDL::Twist &k, Eigen::Matrix< double, 6, 1 > &e)
Converts a KDL twist into an Eigen matrix.
Definition: eigen_kdl.cpp:106
tf::quaternionEigenToKDL
void quaternionEigenToKDL(const Eigen::Quaterniond &e, KDL::Rotation &k)
Converts an Eigen quaternion into a KDL rotation.
Definition: eigen_kdl.cpp:45
tf::wrenchEigenToKDL
void wrenchEigenToKDL(const Eigen::Matrix< double, 6, 1 > &e, KDL::Wrench &k)
Converts an Eigen matrix into a KDL wrench.
Definition: eigen_kdl.cpp:129
tf::twistEigenToKDL
void twistEigenToKDL(const Eigen::Matrix< double, 6, 1 > &e, KDL::Twist &k)
Converts an Eigen matrix into a KDL Twist.
Definition: eigen_kdl.cpp:100
tf::transformEigenToKDL
void transformEigenToKDL(const Eigen::Affine3d &e, KDL::Frame &k)
Converts an Eigen Affine3d into a KDL frame.
Definition: eigen_kdl.cpp:90
tf::quaternionKDLToEigen
void quaternionKDLToEigen(const KDL::Rotation &k, Eigen::Quaterniond &e)
Converts a KDL rotation into an Eigen quaternion.
Definition: eigen_kdl.cpp:34
tf::wrenchKDLToEigen
void wrenchKDLToEigen(const KDL::Wrench &k, Eigen::Matrix< double, 6, 1 > &e)
Converts a KDL wrench into an Eigen matrix.
Definition: eigen_kdl.cpp:123
tf::vectorKDLToEigen
void vectorKDLToEigen(const KDL::Vector &k, Eigen::Matrix< double, 3, 1 > &e)
Converts a KDL vector into an Eigen matrix.
Definition: eigen_kdl.cpp:117
tf::transformKDLToEigen
void transformKDLToEigen(const KDL::Frame &k, Eigen::Affine3d &e)
Converts a KDL frame into an Eigen Affine3d.
Definition: eigen_kdl.cpp:80
tf::vectorEigenToKDL
void vectorEigenToKDL(const Eigen::Matrix< double, 3, 1 > &e, KDL::Vector &k)
Converts an Eigen matrix into a KDL vector.
Definition: eigen_kdl.cpp:112
tf
Definition: eigen_kdl.h:42


eigen_conversions
Author(s): Stuart Glaser, Adam Leeper
autogenerated on Sat Aug 19 2023 02:38:05