imu_filter::tf_helper Namespace Reference

Functions
static void	toEigen (const tf::Transform &transform, Eigen::Quaterniond &q, Eigen::Vector3d &trans)
	convert tf::Transform to Eigen Quaternion and Vector
static void	toTfTransform (const Eigen::Quaterniond &q, const Eigen::Vector3d &trans, tf::Transform &transform)
	convert Eigen::Quaternion and Eigen::Vector3d to tf::Transform type
static void	toTfTransform (const Eigen::Affine3d &pose, tf::Transform &transform)
	convert Eigen::Affine3d to tf::Transform type
static void	toTfTransform (const Observation::Vector &vec, tf::Transform &transform)
	convert Observation Vector to tf::Transform type

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Function Documentation

static void imu_filter::tf_helper::toEigen	(	const tf::Transform &	transform,
		Eigen::Quaterniond &	q,
		Eigen::Vector3d &	trans
	)		[inline, static]

convert tf::Transform to Eigen Quaternion and Vector

Parameters:

transform	input tf::Transform
q	output Eigen::Quaternion
trans	output Eigen::Vector3d for translation

Definition at line 92 of file tf_helper.h.

static void imu_filter::tf_helper::toTfTransform	(	const Eigen::Quaterniond &	q,
		const Eigen::Vector3d &	trans,
		tf::Transform &	transform
	)		[inline, static]

convert Eigen::Quaternion and Eigen::Vector3d to tf::Transform type

Parameters:

q	orientation
trans	translation
transform	output tf::Transform

Definition at line 56 of file tf_helper.h.

static void imu_filter::tf_helper::toTfTransform	(	const Eigen::Affine3d &	pose,
		tf::Transform &	transform
	)		[inline, static]

convert Eigen::Affine3d to tf::Transform type

Parameters:

pose	input Eigen pose
transform	output tf::Transform

Definition at line 67 of file tf_helper.h.

static void imu_filter::tf_helper::toTfTransform	(	const Observation::Vector &	vec,
		tf::Transform &	transform
	)		[inline, static]

convert Observation Vector to tf::Transform type

Parameters:

pose	input Eigen pose
transform	output tf::Transform

Definition at line 80 of file tf_helper.h.