tf_kdl.cpp

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/*
 * Copyright (c) 2009, Willow Garage, Inc.
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 *       this software without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#include "tf_conversions/tf_kdl.h"
#include "kdl_conversions/kdl_msg.h"

namespace tf {

  void poseTFToKDL(const tf::Pose& t, KDL::Frame& k)
  {
    for (unsigned int i = 0; i < 3; ++i)
      k.p[i] = t.getOrigin()[i];
    for (unsigned int i = 0; i < 9; ++i)
      k.M.data[i] = t.getBasis()[i/3][i%3];
  }

  void poseKDLToTF(const KDL::Frame& k, tf::Pose& t)
  {
    t.setOrigin(tf::Vector3(k.p[0], k.p[1], k.p[2]));
    t.setBasis(tf::Matrix3x3(k.M.data[0], k.M.data[1], k.M.data[2],
                           k.M.data[3], k.M.data[4], k.M.data[5],
                           k.M.data[6], k.M.data[7], k.M.data[8]));
  }

  void quaternionTFToKDL(const tf::Quaternion& t, KDL::Rotation& k)
  {
    k = KDL::Rotation::Quaternion(t[0], t[1], t[2], t[3]);
  }

  void quaternionKDLToTF(const KDL::Rotation &k, tf::Quaternion &t)
  {
    double x, y, z, w;
    k.GetQuaternion(x, y, z, w);
    t = tf::Quaternion(x, y, z, w);
  }

  void transformTFToKDL(const tf::Transform &t, KDL::Frame &k)
  {
    for (unsigned int i = 0; i < 3; ++i)
      k.p[i] = t.getOrigin()[i];
    for (unsigned int i = 0; i < 9; ++i)
      k.M.data[i] = t.getBasis()[i/3][i%3];
  }

  void transformKDLToTF(const KDL::Frame &k, tf::Transform &t)
  {
    t.setOrigin(tf::Vector3(k.p[0], k.p[1], k.p[2]));
    t.setBasis(tf::Matrix3x3(k.M.data[0], k.M.data[1], k.M.data[2],
                           k.M.data[3], k.M.data[4], k.M.data[5],
                           k.M.data[6], k.M.data[7], k.M.data[8]));
  }

  void vectorTFToKDL(const tf::Vector3& t, KDL::Vector& k)
  {
    k[0] = t[0];
    k[1] = t[1];
    k[2] = t[2];
  }

  void vectorKDLToTF(const KDL::Vector& k, tf::Vector3& t)
  {
    t[0] = k[0];
    t[1] = k[1];
    t[2] = k[2];
  }
 
 
  /* DEPRECATED FUNCTIONS */
  geometry_msgs::Pose addDelta(const geometry_msgs::Pose &pose, const geometry_msgs::Twist &twist, const double &t)
  {
    geometry_msgs::Pose result;
    KDL::Twist kdl_twist;
    KDL::Frame kdl_pose_id, kdl_pose;

    poseMsgToKDL(pose,kdl_pose);
    twistMsgToKDL(twist,kdl_twist);
    kdl_pose = KDL::addDelta(kdl_pose_id,kdl_twist,t)*kdl_pose;
    poseKDLToMsg(kdl_pose,result);
    return result;
  }

}  // namespace tf