utils.cpp
Go to the documentation of this file.
1 #include "pinocchio/parsers/urdf/utils.hpp"
2 
3 namespace pinocchio
4 {
5  namespace urdf
6  {
7  namespace details
8  {
9 
10  SE3 convertFromUrdf(const ::urdf::Pose & M)
11  {
12  const ::urdf::Vector3 & p = M.position;
13  const ::urdf::Rotation & q = M.rotation;
14  return SE3(SE3::Quaternion(q.w,q.x,q.y,q.z).matrix(),
15  SE3::Vector3(p.x,p.y,p.z));
16  }
17  }
18  }
19 }
JointCollectionTpl const Eigen::MatrixBase< ConfigVectorType > & q
static Inertia convertFromUrdf(const ::urdf::Inertial &Y)
Convert URDF Inertial quantity to Spatial Inertia.
Eigen::Quaternion< Scalar, Options > Quaternion
Definition: types.hpp:29
traits< SE3Tpl >::Vector3 Vector3
Main pinocchio namespace.
Definition: timings.cpp:28
SE3Tpl< double, 0 > SE3


pinocchio
Author(s):
autogenerated on Fri Jun 23 2023 02:38:33