eigen_msg.h

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/*
 * Copyright (c) 2009, Willow Garage, Inc.
 * All rights reserved.
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 *       this software without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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/*
 * Author: Stuart Glaser
 */
 
#ifndef EIGEN_MSG_CONVERSIONS_H
#define EIGEN_MSG_CONVERSIONS_H
 
#include <std_msgs/Float64MultiArray.h>
#include <geometry_msgs/Point.h>
#include <geometry_msgs/Pose.h>
#include <geometry_msgs/Quaternion.h>
#include <geometry_msgs/Transform.h>
#include <geometry_msgs/Twist.h>
#include <geometry_msgs/Vector3.h>
#include <geometry_msgs/Wrench.h>
 
#include <Eigen/Core>
#include <Eigen/Geometry>
 
namespace tf {
 
void pointMsgToEigen(const geometry_msgs::Point &m, Eigen::Vector3d &e);
 
void pointEigenToMsg(const Eigen::Vector3d &e, geometry_msgs::Point &m);
 
void poseMsgToEigen(const geometry_msgs::Pose &m, Eigen::Affine3d &e);
 
void poseMsgToEigen(const geometry_msgs::Pose &m, Eigen::Isometry3d &e);
 
void poseEigenToMsg(const Eigen::Affine3d &e, geometry_msgs::Pose &m);
 
void poseEigenToMsg(const Eigen::Isometry3d &e, geometry_msgs::Pose &m);
 
void quaternionMsgToEigen(const geometry_msgs::Quaternion &m, Eigen::Quaterniond &e);
 
void quaternionEigenToMsg(const Eigen::Quaterniond &e, geometry_msgs::Quaternion &m);
 
void transformMsgToEigen(const geometry_msgs::Transform &m, Eigen::Affine3d &e);
 
void transformMsgToEigen(const geometry_msgs::Transform &m, Eigen::Isometry3d &e);
 
void transformEigenToMsg(const Eigen::Affine3d &e, geometry_msgs::Transform &m);
 
void transformEigenToMsg(const Eigen::Isometry3d &e, geometry_msgs::Transform &m);
 
void twistMsgToEigen(const geometry_msgs::Twist &m, Eigen::Matrix<double,6,1> &e);
 
void twistEigenToMsg(const Eigen::Matrix<double,6,1> &e, geometry_msgs::Twist &m);
 
void vectorMsgToEigen(const geometry_msgs::Vector3 &m, Eigen::Vector3d &e);
 
void vectorEigenToMsg(const Eigen::Vector3d &e, geometry_msgs::Vector3 &m);
 
void wrenchMsgToEigen(const geometry_msgs::Wrench &m, Eigen::Matrix<double,6,1> &e);
 
void wrenchEigenToMsg(const Eigen::Matrix<double,6,1> &e, geometry_msgs::Wrench &m);
 
template <class Derived>
void matrixEigenToMsg(const Eigen::MatrixBase<Derived> &e, std_msgs::Float64MultiArray &m)
{
  if (m.layout.dim.size() != 2)
    m.layout.dim.resize(2);
  m.layout.dim[0].stride = e.rows() * e.cols();
  m.layout.dim[0].size = e.rows();
  m.layout.dim[1].stride = e.cols();
  m.layout.dim[1].size = e.cols();
  if ((int)m.data.size() != e.size())
    m.data.resize(e.size());
  int ii = 0;
  for (int i = 0; i < e.rows(); ++i)
    for (int j = 0; j < e.cols(); ++j)
      m.data[ii++] = e.coeff(i, j);
}
 
} // namespace
 
#endif