eigen_msg.cpp

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#include <eigen_conversions/eigen_msg.h>

namespace tf {

void pointMsgToEigen(const geometry_msgs::Point &m, Eigen::Vector3d &e)
{
  e(0) = m.x; 
  e(1) = m.y; 
  e(2) = m.z; 
}

void pointEigenToMsg(const Eigen::Vector3d &e, geometry_msgs::Point &m)
{
  m.x = e(0);
  m.y = e(1);
  m.z = e(2);
}

void poseMsgToEigen(const geometry_msgs::Pose &m, Eigen::Affine3d &e)
{
  e = Eigen::Translation3d(m.position.x,
                           m.position.y,
                           m.position.z) *
    Eigen::Quaterniond(m.orientation.w,
                       m.orientation.x,
                       m.orientation.y,
                       m.orientation.z);
}

void poseEigenToMsg(const Eigen::Affine3d &e, geometry_msgs::Pose &m)
{
  m.position.x = e.translation()[0];
  m.position.y = e.translation()[1];
  m.position.z = e.translation()[2];
  Eigen::Quaterniond q = (Eigen::Quaterniond)e.linear();
  m.orientation.x = q.x();
  m.orientation.y = q.y();
  m.orientation.z = q.z();
  m.orientation.w = q.w();
  if (m.orientation.w < 0) {
    m.orientation.x *= -1;
    m.orientation.y *= -1;
    m.orientation.z *= -1;
    m.orientation.w *= -1;
  }
}

void quaternionMsgToEigen(const geometry_msgs::Quaternion &m, Eigen::Quaterniond &e)
{
  e = Eigen::Quaterniond(m.w, m.x, m.y, m.z);
}

void quaternionEigenToMsg(const Eigen::Quaterniond &e, geometry_msgs::Quaternion &m)
{
  m.x = e.x();
  m.y = e.y();
  m.z = e.z();
  m.w = e.w();
}

void transformMsgToEigen(const geometry_msgs::Transform &m, Eigen::Affine3d &e)
{ 
  e = Eigen::Translation3d(m.translation.x,
                           m.translation.y,
                           m.translation.z) *
    Eigen::Quaterniond(m.rotation.w,
                       m.rotation.x,
                       m.rotation.y,
                       m.rotation.z);
}

void transformEigenToMsg(const Eigen::Affine3d &e, geometry_msgs::Transform &m)
{  
  m.translation.x = e.translation()[0];
  m.translation.y = e.translation()[1];
  m.translation.z = e.translation()[2];
  Eigen::Quaterniond q = (Eigen::Quaterniond)e.linear();
  m.rotation.x = q.x();
  m.rotation.y = q.y();
  m.rotation.z = q.z();
  m.rotation.w = q.w();
  if (m.rotation.w < 0) {
    m.rotation.x *= -1;
    m.rotation.y *= -1;
    m.rotation.z *= -1;
    m.rotation.w *= -1;
  }
}

void vectorMsgToEigen(const geometry_msgs::Vector3 &m, Eigen::Vector3d &e)
{
  e(0) = m.x; 
  e(1) = m.y; 
  e(2) = m.z; 
}

void vectorEigenToMsg(const Eigen::Vector3d &e, geometry_msgs::Vector3 &m)
{
  m.x = e(0);
  m.y = e(1);
  m.z = e(2);
}

void twistMsgToEigen(const geometry_msgs::Twist &m, Eigen::Matrix<double,6,1> &e)
{
  e[0] = m.linear.x;
  e[1] = m.linear.y;
  e[2] = m.linear.z;
  e[3] = m.angular.x;
  e[4] = m.angular.y;
  e[5] = m.angular.z;
}

void twistEigenToMsg(const Eigen::Matrix<double,6,1> &e, geometry_msgs::Twist &m)
{
  m.linear.x = e[0];
  m.linear.y = e[1];
  m.linear.z = e[2];
  m.angular.x = e[3];
  m.angular.y = e[4];
  m.angular.z = e[5];
}

void wrenchMsgToEigen(const geometry_msgs::Wrench &m, Eigen::Matrix<double,6,1> &e)
{
  e[0] = m.force.x;
  e[1] = m.force.y;
  e[2] = m.force.z;
  e[3] = m.torque.x;
  e[4] = m.torque.y;
  e[5] = m.torque.z;
}

void wrenchEigenToMsg(const Eigen::Matrix<double,6,1> &e, geometry_msgs::Wrench &m)
{
  m.force.x = e[0];
  m.force.y = e[1];
  m.force.z = e[2];
  m.torque.x = e[3];
  m.torque.y = e[4];
  m.torque.z = e[5];
}

} // namespace