eigen_kdl.h
Go to the documentation of this file.
1 /*
2  * Copyright (c) 2009, Willow Garage, Inc.
3  * All rights reserved.
4  *
5  * Redistribution and use in source and binary forms, with or without
6  * modification, are permitted provided that the following conditions are met:
7  *
8  * * Redistributions of source code must retain the above copyright
9  * notice, this list of conditions and the following disclaimer.
10  * * Redistributions in binary form must reproduce the above copyright
11  * notice, this list of conditions and the following disclaimer in the
12  * documentation and/or other materials provided with the distribution.
13  * * Neither the name of the Willow Garage, Inc. nor the names of its
14  * contributors may be used to endorse or promote products derived from
15  * this software without specific prior written permission.
16  *
17  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
18  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
19  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
20  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
21  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
22  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
23  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
24  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
25  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
26  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
27  * POSSIBILITY OF SUCH DAMAGE.
28  */
29 
30 /*
31  * Author: Adam Leeper, Stuart Glaser
32  */
33 
34 #ifndef EIGEN_KDL_CONVERSIONS_H
35 #define EIGEN_KDL_CONVERSIONS_H
36 
37 #include <Eigen/Core>
38 #include <Eigen/Geometry>
39 
40 #include <kdl/frames.hpp>
41 
42 namespace tf {
43 
45 void quaternionKDLToEigen(const KDL::Rotation &k, Eigen::Quaterniond &e);
46 
48 void quaternionEigenToKDL(const Eigen::Quaterniond &e, KDL::Rotation &k);
49 
51 void transformKDLToEigen(const KDL::Frame &k, Eigen::Affine3d &e);
52 
54 void transformKDLToEigen(const KDL::Frame &k, Eigen::Isometry3d &e);
55 
57 void transformEigenToKDL(const Eigen::Affine3d &e, KDL::Frame &k);
58 
60 void transformEigenToKDL(const Eigen::Isometry3d &e, KDL::Frame &k);
61 
63 void twistKDLToEigen(const KDL::Twist &k, Eigen::Matrix<double, 6, 1> &e);
64 
66 void twistEigenToKDL(const Eigen::Matrix<double, 6, 1> &e, KDL::Twist &k);
67 
69 void vectorKDLToEigen(const KDL::Vector &k, Eigen::Matrix<double, 3, 1> &e);
70 
72 void vectorEigenToKDL(const Eigen::Matrix<double, 3, 1> &e, KDL::Vector &k);
73 
75 void wrenchKDLToEigen(const KDL::Wrench &k, Eigen::Matrix<double, 6, 1> &e);
76 
78 void wrenchEigenToKDL(const Eigen::Matrix<double, 6, 1> &e, KDL::Wrench &k);
79 
80 } // namespace
81 
82 #endif
void quaternionKDLToEigen(const KDL::Rotation &k, Eigen::Quaterniond &e)
Converts a KDL rotation into an Eigen quaternion.
Definition: eigen_kdl.cpp:34
Definition: eigen_kdl.h:42
void wrenchKDLToEigen(const KDL::Wrench &k, Eigen::Matrix< double, 6, 1 > &e)
Converts a KDL wrench into an Eigen matrix.
Definition: eigen_kdl.cpp:123
void transformEigenToKDL(const Eigen::Affine3d &e, KDL::Frame &k)
Converts an Eigen Affine3d into a KDL frame.
Definition: eigen_kdl.cpp:90
void twistKDLToEigen(const KDL::Twist &k, Eigen::Matrix< double, 6, 1 > &e)
Converts a KDL twist into an Eigen matrix.
Definition: eigen_kdl.cpp:106
void quaternionEigenToKDL(const Eigen::Quaterniond &e, KDL::Rotation &k)
Converts an Eigen quaternion into a KDL rotation.
Definition: eigen_kdl.cpp:45
void vectorEigenToKDL(const Eigen::Matrix< double, 3, 1 > &e, KDL::Vector &k)
Converts an Eigen matrix into a KDL vector.
Definition: eigen_kdl.cpp:112
void vectorKDLToEigen(const KDL::Vector &k, Eigen::Matrix< double, 3, 1 > &e)
Converts a KDL vector into an Eigen matrix.
Definition: eigen_kdl.cpp:117
void twistEigenToKDL(const Eigen::Matrix< double, 6, 1 > &e, KDL::Twist &k)
Converts an Eigen matrix into a KDL Twist.
Definition: eigen_kdl.cpp:100
void transformKDLToEigen(const KDL::Frame &k, Eigen::Affine3d &e)
Converts a KDL frame into an Eigen Affine3d.
Definition: eigen_kdl.cpp:80
void wrenchEigenToKDL(const Eigen::Matrix< double, 6, 1 > &e, KDL::Wrench &k)
Converts an Eigen matrix into a KDL wrench.
Definition: eigen_kdl.cpp:129


eigen_conversions
Author(s): Stuart Glaser, Adam Leeper
autogenerated on Mon Feb 28 2022 22:26:17