Functions
geometry_msgs::Point	eigenToPointMsg (Eigen::Vector3f &e)
geometry_msgs::Quaternion	eigenToQuaternionMsg (Eigen::Quaternionf &e)
void	pointMsgToEigen (const geometry_msgs::Point &m, Eigen::Vector3f &e)
void	poseMsgToSophus (const geometry_msgs::Pose &p, Sophus::SE3f &s)
void	quaternionMsgToEigen (const geometry_msgs::Quaternion &m, Eigen::Quaternionf &e)
Eigen::Quaternionf	quaternionMsgToEigen (const geometry_msgs::Quaternion &m)
geometry_msgs::Pose	sophusToPoseMsg (const Sophus::SE3f &s)
geometry_msgs::Transform	sophusToTransformMsg (const Sophus::SE3f &se3)
template<typename T >
void	stampedTransformToSophus (const tf::StampedTransform &transform, Sophus::SE3Group< T > &se3)
void	transformMsgToSophus (const geometry_msgs::Transform &transform, Sophus::SE3f &se3)
Sophus::SE3f	transformMsgToSophus (const geometry_msgs::Transform &transform)
void	vector3MsgToSophus (const geometry_msgs::Vector3 &v, Sophus::SE3f::Point &translation)

Function Documentation

geometry_msgs::Point sophus_ros_conversions::eigenToPointMsg ( Eigen::Vector3f & e )

Definition at line 41 of file eigen.cpp.

geometry_msgs::Quaternion sophus_ros_conversions::eigenToQuaternionMsg ( Eigen::Quaternionf & e )

Definition at line 49 of file eigen.cpp.

void sophus_ros_conversions::pointMsgToEigen	(	const geometry_msgs::Point &	m,
		Eigen::Vector3f &	e
	)

Definition at line 20 of file eigen.cpp.

void sophus_ros_conversions::poseMsgToSophus	(	const geometry_msgs::Pose &	p,
		Sophus::SE3f &	s
	)

Converts a ros pose message to a sophus pose.

Parameters:

p
s

Definition at line 22 of file geometry.cpp.

void sophus_ros_conversions::quaternionMsgToEigen	(	const geometry_msgs::Quaternion &	m,
		Eigen::Quaternionf &	e
	)

Definition at line 27 of file eigen.cpp.

Eigen::Quaternionf sophus_ros_conversions::quaternionMsgToEigen ( const geometry_msgs::Quaternion & m )

Definition at line 32 of file eigen.cpp.

geometry_msgs::Pose sophus_ros_conversions::sophusToPoseMsg ( const Sophus::SE3f & s )

Converts a sophus pose to a ros pose message.

Parameters:

s

Returns:

Definition at line 31 of file geometry.cpp.

geometry_msgs::Transform sophus_ros_conversions::sophusToTransformMsg ( const Sophus::SE3f & se3 )

Convert sophus transform to ros transform.

Parameters:

se3

Returns:: geometry_msgs::Transform

Definition at line 63 of file geometry.cpp.

template<typename T >

void sophus_ros_conversions::stampedTransformToSophus	(	const tf::StampedTransform &	transform,
		Sophus::SE3Group< T > &	se3
	)

Converts tf::StampedTransform to a homogenous transform in sophus.

Parameters:

transform
se3

Definition at line 66 of file geometry.hpp.

void sophus_ros_conversions::transformMsgToSophus	(	const geometry_msgs::Transform &	transform,
		Sophus::SE3f &	se3
	)

Converts ros transform message to a homogenous transform in sophus.

Parameters:

transform
se3

Definition at line 47 of file geometry.cpp.

Sophus::SE3f sophus_ros_conversions::transformMsgToSophus ( const geometry_msgs::Transform & transform )

Alternate form of ros transform -> sophus conversion.

Parameters:

transform

Returns:: Sophus::SE3f

Definition at line 56 of file geometry.cpp.

void sophus_ros_conversions::vector3MsgToSophus	(	const geometry_msgs::Vector3 &	v,
		Sophus::SE3f::Point &	translation
	)

Converts vector3f, usually used as part of ros transform messages into the translation part that gets used in Sophus::SE3f types. Note that sophus uses SE3f::Point as the translation type in the constructors of SE3f types.

Definition at line 41 of file geometry.cpp.

Functions

Function Documentation