blort_ros: blort_ros: pose_util.cpp Source File

00001 /*
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00034 
00039 #include <blort_ros/pose_util.h>
00040 
00041 namespace pal_vision_util
00042 {
00043     tf::Transform rosPose2TfTransform(const geometry_msgs::Pose &pose)
00044     {
00045         tf::Transform result;
00046         result.setOrigin(tf::Vector3(pose.position.x,
00047                                      pose.position.y,
00048                                      pose.position.z));
00049         result.setRotation(tf::Quaternion(pose.orientation.x,
00050                                           pose.orientation.y,
00051                                           pose.orientation.z,
00052                                           pose.orientation.w
00053                                           ));
00054         return result;
00055     }
00056 
00057     geometry_msgs::Pose tfTransform2RosPose(const tf::Transform &transform)
00058     {
00059         geometry_msgs::Pose result;
00060         const tf::Vector3 position = transform.getOrigin();
00061         const tf::Quaternion orientation = transform.getRotation();
00062         result.position.x = position.x();
00063         result.position.y = position.y();
00064         result.position.z = position.z();
00065         result.orientation.x = orientation.x();
00066         result.orientation.y = orientation.y();
00067         result.orientation.z = orientation.z();
00068         result.orientation.w = orientation.w();
00069 
00070         return result;
00071     }
00072 
00073     geometry_msgs::Pose blortPosesToRosPose(geometry_msgs::Pose reference,
00074                                             geometry_msgs::Pose target)
00075     {
00076         const tf::Transform blort_reference_frame =
00077                 pal_vision_util::rosPose2TfTransform(reference);
00078         const tf::Transform blort_target_pose =
00079                 pal_vision_util::rosPose2TfTransform(target);
00080 
00081         return pal_vision_util::tfTransform2RosPose(blort_reference_frame.inverse()*blort_target_pose);
00082     }
00083 }