tf_eigen.h

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// Author: Adam Leeper (and others)
 
#ifndef CONVERSIONS_TF_EIGEN_H
#define CONVERSIONS_TF_EIGEN_H
 
#include "tf/transform_datatypes.h"
#include "Eigen/Core"
#include "Eigen/Geometry"
 
namespace tf {
 
void matrixTFToEigen(const tf::Matrix3x3 &t, Eigen::Matrix3d &e);
 
void matrixEigenToTF(const Eigen::Matrix3d &e, tf::Matrix3x3 &t);
 
void poseTFToEigen(const tf::Pose &t, Eigen::Affine3d &e);
 
void poseTFToEigen(const tf::Pose &t, Eigen::Isometry3d &e);
 
void poseEigenToTF(const Eigen::Affine3d &e, tf::Pose &t);
 
void poseEigenToTF(const Eigen::Isometry3d &e, tf::Pose &t);
 
void quaternionTFToEigen(const tf::Quaternion &t, Eigen::Quaterniond &e);
 
void quaternionEigenToTF(const Eigen::Quaterniond &e, tf::Quaternion &t);
 
void transformTFToEigen(const tf::Transform &t, Eigen::Affine3d &e);
 
void transformTFToEigen(const tf::Transform &t, Eigen::Isometry3d &e);
 
void transformEigenToTF(const Eigen::Affine3d &e, tf::Transform &t);
 
void transformEigenToTF(const Eigen::Isometry3d &e, tf::Transform &t);
 
void vectorTFToEigen(const tf::Vector3 &t, Eigen::Vector3d &e);
 
void vectorEigenToTF(const Eigen::Vector3d &e, tf::Vector3 &t);
 
} // namespace tf
 
#endif