grasp_planning_graspit: GraspItHelpers.h Source File

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00001 #ifndef GRASP_PLANNING_GRASPIT_GRASPITHELPERS_H
00002 #define GRASP_PLANNING_GRASPIT_GRASPITHELPERS_H
00003 
00024 #include <Eigen/Core>
00025 #include <Eigen/Geometry>
00026 #include <grasp_planning_graspit/GraspItTypes.h>
00027 
00028 class transf;
00029 
00030 namespace GraspIt
00031 {
00032 
00036 extern EigenTransform getEigenTransform(const transf& trans);
00037 
00038 
00042 extern transf getGraspitTransform(const EigenTransform& transform);
00043 
00044 };  // namespace GraspIt
00045 
00046 #endif  // GRASP_PLANNING_GRASPIT_GRASPITHELPERS_H