Function pfield::urdfPoseToEigen

• Defined in File pfield_common.hpp

Function Documentation

inline Eigen::Affine3d pfield::urdfPoseToEigen(const urdf::Pose &p)

Convert a urdf::Pose to an Eigen::Affine3d.

The URDF pose stores position (x,y,z) and a quaternion (x,y,z,w). This helper creates an Eigen isometry with the same translation and rotation.