tf_eigen.cpp

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#include "tf_conversions/tf_eigen.h"

namespace tf {

  void VectorTFToEigen(const tf::Vector3& t, Eigen::Vector3d& k)
  {
    k(0) = t[0];
    k(1) = t[1];
    k(2) = t[2];
  };

void VectorEigenToTF(const Eigen::Vector3d& k, tf::Vector3& t)
{
  t[0] = k(0);
  t[1] = k(1);
  t[2] = k(2);
}

  void RotationTFToEigen(const tf::Quaternion& t, Eigen::Quaterniond& k)
  {
    Eigen::Quaterniond m(t[3],t[0],t[1],t[2]);
    k = m;
  };

void RotationEigenToTF(const Eigen::Quaterniond& k, tf::Quaternion& t)
{
  t[0] = k.x();
  t[1] = k.y();
  t[2] = k.z();
  t[3] = k.w();
}

  void TransformTFToEigen(const tf::Transform &t, Eigen::Affine3d &k)
  {
    for(int i=0; i<3; i++)
    {
      k.matrix()(i,3) = t.getOrigin()[i];
      for(int j=0; j<3; j++)
      {
        k.matrix()(i,j) = t.getBasis()[i][j];
      }
    }
    // Fill in identity in last row
    for (int col = 0 ; col < 3; col ++)
      k.matrix()(3, col) = 0;
    k.matrix()(3,3) = 1;

  };

  void TransformEigenToTF(const Eigen::Affine3d &k, tf::Transform &t)
  {
    t.setOrigin(tf::Vector3(k.matrix()(0,3), k.matrix()(1,3), k.matrix()(2,3)));
    t.setBasis(tf::Matrix3x3(k.matrix()(0,0), k.matrix()(0,1),k.matrix()(0,2),k.matrix()(1,0), k.matrix()(1,1),k.matrix()(1,2),k.matrix()(2,0), k.matrix()(2,1),k.matrix()(2,2)));
  };
}