tf_eigen.h

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// Author: Adam Leeper (and others)

#ifndef CONVERSIONS_TF_EIGEN_H
#define CONVERSIONS_TF_EIGEN_H

#include "tf/transform_datatypes.h"
#include "Eigen/Core"
#include "Eigen/Geometry"

namespace tf {

void matrixTFToEigen(const tf::Matrix3x3 &t, Eigen::Matrix3d &e);

void matrixEigenToTF(const Eigen::Matrix3d &e, tf::Matrix3x3 &t);

void poseTFToEigen(const tf::Pose &t, Eigen::Affine3d &e);

void poseTFToEigen(const tf::Pose &t, Eigen::Isometry3d &e);

void poseEigenToTF(const Eigen::Affine3d &e, tf::Pose &t);

void poseEigenToTF(const Eigen::Isometry3d &e, tf::Pose &t);

void quaternionTFToEigen(const tf::Quaternion &t, Eigen::Quaterniond &e);

void quaternionEigenToTF(const Eigen::Quaterniond &e, tf::Quaternion &t);

void transformTFToEigen(const tf::Transform &t, Eigen::Affine3d &e);

void transformTFToEigen(const tf::Transform &t, Eigen::Isometry3d &e);

void transformEigenToTF(const Eigen::Affine3d &e, tf::Transform &t);

void transformEigenToTF(const Eigen::Isometry3d &e, tf::Transform &t);

void vectorTFToEigen(const tf::Vector3 &t, Eigen::Vector3d &e);

void vectorEigenToTF(const Eigen::Vector3d &e, tf::Vector3 &t);

} // namespace tf

#endif