00001 /* 00002 * Copyright (c) 2009-2012, Willow Garage, Inc. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the Willow Garage, Inc. nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 */ 00029 00030 // Author: Adam Leeper (and others) 00031 00032 #ifndef CONVERSIONS_TF_EIGEN_H 00033 #define CONVERSIONS_TF_EIGEN_H 00034 00035 #include "tf/transform_datatypes.h" 00036 #include "Eigen/Core" 00037 #include "Eigen/Geometry" 00038 00039 namespace tf { 00040 00042 void matrixTFToEigen(const tf::Matrix3x3 &t, Eigen::Matrix3d &e); 00043 00045 void matrixEigenToTF(const Eigen::Matrix3d &e, tf::Matrix3x3 &t); 00046 00048 void poseTFToEigen(const tf::Pose &t, Eigen::Affine3d &e); 00049 00051 void poseEigenToTF(const Eigen::Affine3d &e, tf::Pose &t); 00052 00054 void quaternionTFToEigen(const tf::Quaternion &t, Eigen::Quaterniond &e); 00055 00057 void quaternionEigenToTF(const Eigen::Quaterniond &e, tf::Quaternion &t); 00058 00060 void transformTFToEigen(const tf::Transform &t, Eigen::Affine3d &e); 00061 00063 void transformEigenToTF(const Eigen::Affine3d &e, tf::Transform &t); 00064 00066 void vectorTFToEigen(const tf::Vector3 &t, Eigen::Vector3d &e); 00067 00069 void vectorEigenToTF(const Eigen::Vector3d &e, tf::Vector3 &t); 00070 00071 } // namespace tf 00072 00073 #endif