eigen_msg.cpp

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#include <eigen_conversions/eigen_msg.h>
 
namespace tf {
 
void pointMsgToEigen(const geometry_msgs::Point &m, Eigen::Vector3d &e)
{
  e(0) = m.x; 
  e(1) = m.y; 
  e(2) = m.z; 
}
 
void pointEigenToMsg(const Eigen::Vector3d &e, geometry_msgs::Point &m)
{
  m.x = e(0);
  m.y = e(1);
  m.z = e(2);
}
 
namespace {
  template<typename T>
  void poseMsgToEigenImpl(const geometry_msgs::Pose &m, T &e)
  {
    e = Eigen::Translation3d(m.position.x,
                             m.position.y,
                             m.position.z) *
      Eigen::Quaterniond(m.orientation.w,
                         m.orientation.x,
                         m.orientation.y,
                         m.orientation.z);
  }
 
  template<typename T>
  void poseEigenToMsgImpl(const T &e, geometry_msgs::Pose &m)
  {
    m.position.x = e.translation()[0];
    m.position.y = e.translation()[1];
    m.position.z = e.translation()[2];
    Eigen::Quaterniond q = (Eigen::Quaterniond)e.linear();
    m.orientation.x = q.x();
    m.orientation.y = q.y();
    m.orientation.z = q.z();
    m.orientation.w = q.w();
    if (m.orientation.w < 0) {
      m.orientation.x *= -1;
      m.orientation.y *= -1;
      m.orientation.z *= -1;
      m.orientation.w *= -1;
    }
  }
 
  template<typename T>
  void transformMsgToEigenImpl(const geometry_msgs::Transform &m, T &e)
  {
    e = Eigen::Translation3d(m.translation.x,
                             m.translation.y,
                             m.translation.z) *
      Eigen::Quaterniond(m.rotation.w,
                         m.rotation.x,
                         m.rotation.y,
                         m.rotation.z);
  }
 
  template<typename T>
  void transformEigenToMsgImpl(const T &e, geometry_msgs::Transform &m)
  {
    m.translation.x = e.translation()[0];
    m.translation.y = e.translation()[1];
    m.translation.z = e.translation()[2];
    Eigen::Quaterniond q = (Eigen::Quaterniond)e.linear();
    m.rotation.x = q.x();
    m.rotation.y = q.y();
    m.rotation.z = q.z();
    m.rotation.w = q.w();
    if (m.rotation.w < 0) {
      m.rotation.x *= -1;
      m.rotation.y *= -1;
      m.rotation.z *= -1;
      m.rotation.w *= -1;
    }
  }
}
 
void poseMsgToEigen(const geometry_msgs::Pose &m, Eigen::Affine3d &e)
{
  poseMsgToEigenImpl(m, e);
}
 
void poseMsgToEigen(const geometry_msgs::Pose &m, Eigen::Isometry3d &e)
{
  poseMsgToEigenImpl(m, e);
}
 
void poseEigenToMsg(const Eigen::Affine3d &e, geometry_msgs::Pose &m)
{
  poseEigenToMsgImpl(e, m);
}
 
void poseEigenToMsg(const Eigen::Isometry3d &e, geometry_msgs::Pose &m)
{
  poseEigenToMsgImpl(e, m);
}
 
void quaternionMsgToEigen(const geometry_msgs::Quaternion &m, Eigen::Quaterniond &e)
{
  e = Eigen::Quaterniond(m.w, m.x, m.y, m.z);
}
 
void quaternionEigenToMsg(const Eigen::Quaterniond &e, geometry_msgs::Quaternion &m)
{
  m.x = e.x();
  m.y = e.y();
  m.z = e.z();
  m.w = e.w();
}
 
void transformMsgToEigen(const geometry_msgs::Transform &m, Eigen::Affine3d &e)
{
  transformMsgToEigenImpl(m, e);
}
 
void transformMsgToEigen(const geometry_msgs::Transform &m, Eigen::Isometry3d &e)
{
  transformMsgToEigenImpl(m, e);
}
 
void transformEigenToMsg(const Eigen::Affine3d &e, geometry_msgs::Transform &m)
{
  transformEigenToMsgImpl(e, m);
}
 
void transformEigenToMsg(const Eigen::Isometry3d &e, geometry_msgs::Transform &m)
{
  transformEigenToMsgImpl(e, m);
}
 
void vectorMsgToEigen(const geometry_msgs::Vector3 &m, Eigen::Vector3d &e)
{
  e(0) = m.x; 
  e(1) = m.y; 
  e(2) = m.z; 
}
 
void vectorEigenToMsg(const Eigen::Vector3d &e, geometry_msgs::Vector3 &m)
{
  m.x = e(0);
  m.y = e(1);
  m.z = e(2);
}
 
void twistMsgToEigen(const geometry_msgs::Twist &m, Eigen::Matrix<double,6,1> &e)
{
  e[0] = m.linear.x;
  e[1] = m.linear.y;
  e[2] = m.linear.z;
  e[3] = m.angular.x;
  e[4] = m.angular.y;
  e[5] = m.angular.z;
}
 
void twistEigenToMsg(const Eigen::Matrix<double,6,1> &e, geometry_msgs::Twist &m)
{
  m.linear.x = e[0];
  m.linear.y = e[1];
  m.linear.z = e[2];
  m.angular.x = e[3];
  m.angular.y = e[4];
  m.angular.z = e[5];
}
 
void wrenchMsgToEigen(const geometry_msgs::Wrench &m, Eigen::Matrix<double,6,1> &e)
{
  e[0] = m.force.x;
  e[1] = m.force.y;
  e[2] = m.force.z;
  e[3] = m.torque.x;
  e[4] = m.torque.y;
  e[5] = m.torque.z;
}
 
void wrenchEigenToMsg(const Eigen::Matrix<double,6,1> &e, geometry_msgs::Wrench &m)
{
  m.force.x = e[0];
  m.force.y = e[1];
  m.force.z = e[2];
  m.torque.x = e[3];
  m.torque.y = e[4];
  m.torque.z = e[5];
}
 
} // namespace