38 for(
int i=0; i<3; i++)
39 for(
int j=0; j<3; j++)
45 for(
int i=0; i<3; i++)
46 for(
int j=0; j<3; j++)
72 e = Eigen::Quaterniond(t[3],t[0],t[1],t[2]);
84 template<
typename Transform>
87 for(
int i=0; i<3; i++)
90 for(
int j=0; j<3; j++)
92 e.matrix()(i,j) = t.
getBasis()[i][j];
96 for (
int col = 0 ; col < 3; col ++)
97 e.matrix()(3, col) = 0;
106 e.matrix()(1,0), e.matrix()(1,1), e.matrix()(1,2),
107 e.matrix()(2,0), e.matrix()(2,1), e.matrix()(2,2)));
113 transformTFToEigenImpl(t, e);
118 transformTFToEigenImpl(t, e);
123 transformEigenToTFImpl(e, t);
128 transformEigenToTFImpl(e, t);
void transformEigenToTF(const Eigen::Affine3d &e, tf::Transform &t)
Converts an Eigen Affine3d into a tf Transform.
void poseEigenToTF(const Eigen::Affine3d &e, tf::Pose &t)
Converts an Eigen Affine3d into a tf Transform.
void matrixTFToEigen(const tf::Matrix3x3 &t, Eigen::Matrix3d &e)
Converts a tf Matrix3x3 into an Eigen Quaternion.
void transformTFToEigen(const tf::Transform &t, Eigen::Affine3d &e)
Converts a tf Transform into an Eigen Affine3d.
void matrixEigenToTF(const Eigen::Matrix3d &e, tf::Matrix3x3 &t)
Converts an Eigen Quaternion into a tf Matrix3x3.
void vectorEigenToTF(const Eigen::Vector3d &e, tf::Vector3 &t)
Converts an Eigen Vector3d into a tf Vector3.
void poseTFToEigen(const tf::Pose &t, Eigen::Affine3d &e)
Converts a tf Pose into an Eigen Affine3d.
void quaternionTFToEigen(const tf::Quaternion &t, Eigen::Quaterniond &e)
Converts a tf Quaternion into an Eigen Quaternion.
void vectorTFToEigen(const tf::Vector3 &t, Eigen::Vector3d &e)
Converts a tf Vector3 into an Eigen Vector3d.
void quaternionEigenToTF(const Eigen::Quaterniond &e, tf::Quaternion &t)
Converts an Eigen Quaternion into a tf Quaternion.