eigen_kdl.h

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/*
 * Author: Adam Leeper, Stuart Glaser
 */

#ifndef EIGEN_KDL_CONVERSIONS_H
#define EIGEN_KDL_CONVERSIONS_H

#include <Eigen/Core>
#include <Eigen/Geometry>

#include <kdl/frames.hpp>

namespace tf {

void quaternionKDLToEigen(const KDL::Rotation &k, Eigen::Quaterniond &e);

void quaternionEigenToKDL(const Eigen::Quaterniond &e, KDL::Rotation &k);

void transformKDLToEigen(const KDL::Frame &k, Eigen::Affine3d &e);

void transformEigenToKDL(const Eigen::Affine3d &e, KDL::Frame &k);

void twistKDLToEigen(const KDL::Twist &k, Eigen::Matrix<double, 6, 1> &e);

void twistEigenToKDL(const Eigen::Matrix<double, 6, 1> &e, KDL::Twist &k);

void vectorKDLToEigen(const KDL::Vector &k, Eigen::Matrix<double, 6, 1> &e);

void vectorEigenToKDL(const Eigen::Matrix<double, 3, 1> &e, KDL::Twist &k);

void wrenchKDLToEigen(const KDL::Wrench &k, Eigen::Matrix<double, 6, 1> &e);

void wrenchEigenToKDL(const Eigen::Matrix<double, 6, 1> &e, KDL::Wrench &k);

} // namespace

#endif