footstep_conversions.cpp
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
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00035 
00036 #include "jsk_footstep_planner/footstep_conversions.h"
00037 #include "jsk_recognition_utils/pcl_conversion_util.h"
00038 
00039 namespace jsk_footstep_planner
00040 {
00041   jsk_footstep_msgs::Footstep footstepFromEigenPose(Eigen::Affine3f pose)
00042   {
00043     jsk_footstep_msgs::Footstep footstep;
00044     tf::poseEigenToMsg(pose, footstep.pose);
00045     return footstep;
00046   }
00047   jsk_footstep_msgs::Footstep footstepFromEigenPose(Eigen::Affine3d pose)
00048   {
00049     jsk_footstep_msgs::Footstep footstep;
00050     tf::poseEigenToMsg(pose, footstep.pose);
00051     return footstep;
00052   }
00053   
00054   visualization_msgs::Marker footstepToMarker(const jsk_footstep_msgs::Footstep& footstep,
00055                                               const std_msgs::Header& header)
00056   {
00057     visualization_msgs::Marker marker;
00058     marker.header = header;
00059     marker.type = visualization_msgs::Marker::CUBE;
00060     marker.scale = footstep.dimensions;
00061     marker.color.a = 1.0;
00062     marker.pose = footstep.pose;
00063     if (footstep.leg == jsk_footstep_msgs::Footstep::LEFT) {
00064       marker.color.g = 1.0;
00065     }
00066     else {
00067       marker.color.r = 1.0;
00068     }
00069     return marker;
00070   }
00071   
00072   visualization_msgs::MarkerArray footstepArrayToMarkerArray(const jsk_footstep_msgs::FootstepArray& footstep_array)
00073   {
00074     visualization_msgs::MarkerArray marker_array;
00075     for (size_t i = 0; i < footstep_array.footsteps.size(); i++) {
00076       jsk_footstep_msgs::Footstep footstep = footstep_array.footsteps[i];
00077       visualization_msgs::Marker marker = footstepToMarker(footstep, footstep_array.header);
00078       marker_array.markers.push_back(marker);
00079     }
00080     return marker_array;
00081   }
00082 }


jsk_footstep_planner
Author(s): Ryohei Ueda
autogenerated on Fri Apr 19 2019 03:45:28