34 #ifndef EIGEN_KDL_CONVERSIONS_H 35 #define EIGEN_KDL_CONVERSIONS_H 38 #include <Eigen/Geometry> 40 #include <kdl/frames.hpp>
void quaternionKDLToEigen(const KDL::Rotation &k, Eigen::Quaterniond &e)
Converts a KDL rotation into an Eigen quaternion.
void wrenchKDLToEigen(const KDL::Wrench &k, Eigen::Matrix< double, 6, 1 > &e)
Converts a KDL wrench into an Eigen matrix.
void transformEigenToKDL(const Eigen::Affine3d &e, KDL::Frame &k)
Converts an Eigen Affine3d into a KDL frame.
void twistKDLToEigen(const KDL::Twist &k, Eigen::Matrix< double, 6, 1 > &e)
Converts a KDL twist into an Eigen matrix.
void quaternionEigenToKDL(const Eigen::Quaterniond &e, KDL::Rotation &k)
Converts an Eigen quaternion into a KDL rotation.
void vectorEigenToKDL(const Eigen::Matrix< double, 3, 1 > &e, KDL::Vector &k)
Converts an Eigen matrix into a KDL vector.
void vectorKDLToEigen(const KDL::Vector &k, Eigen::Matrix< double, 3, 1 > &e)
Converts a KDL vector into an Eigen matrix.
void twistEigenToKDL(const Eigen::Matrix< double, 6, 1 > &e, KDL::Twist &k)
Converts an Eigen matrix into a KDL Twist.
void transformKDLToEigen(const KDL::Frame &k, Eigen::Affine3d &e)
Converts a KDL frame into an Eigen Affine3d.
void wrenchEigenToKDL(const Eigen::Matrix< double, 6, 1 > &e, KDL::Wrench &k)
Converts an Eigen matrix into a KDL wrench.