tf_kdl.cpp
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29 
30 #include "tf_conversions/tf_kdl.h"
32 
33 namespace tf {
34 
35  void poseTFToKDL(const tf::Pose& t, KDL::Frame& k)
36  {
37  for (unsigned int i = 0; i < 3; ++i)
38  k.p[i] = t.getOrigin()[i];
39  for (unsigned int i = 0; i < 9; ++i)
40  k.M.data[i] = t.getBasis()[i/3][i%3];
41  }
42 
43  void poseKDLToTF(const KDL::Frame& k, tf::Pose& t)
44  {
45  t.setOrigin(tf::Vector3(k.p[0], k.p[1], k.p[2]));
46  t.setBasis(tf::Matrix3x3(k.M.data[0], k.M.data[1], k.M.data[2],
47  k.M.data[3], k.M.data[4], k.M.data[5],
48  k.M.data[6], k.M.data[7], k.M.data[8]));
49  }
50 
52  {
53  k = KDL::Rotation::Quaternion(t[0], t[1], t[2], t[3]);
54  }
55 
57  {
58  double x, y, z, w;
59  k.GetQuaternion(x, y, z, w);
60  t = tf::Quaternion(x, y, z, w);
61  }
62 
64  {
65  for (unsigned int i = 0; i < 3; ++i)
66  k.p[i] = t.getOrigin()[i];
67  for (unsigned int i = 0; i < 9; ++i)
68  k.M.data[i] = t.getBasis()[i/3][i%3];
69  }
70 
72  {
73  t.setOrigin(tf::Vector3(k.p[0], k.p[1], k.p[2]));
74  t.setBasis(tf::Matrix3x3(k.M.data[0], k.M.data[1], k.M.data[2],
75  k.M.data[3], k.M.data[4], k.M.data[5],
76  k.M.data[6], k.M.data[7], k.M.data[8]));
77  }
78 
79  void vectorTFToKDL(const tf::Vector3& t, KDL::Vector& k)
80  {
81  k[0] = t[0];
82  k[1] = t[1];
83  k[2] = t[2];
84  }
85 
86  void vectorKDLToTF(const KDL::Vector& k, tf::Vector3& t)
87  {
88  t[0] = k[0];
89  t[1] = k[1];
90  t[2] = k[2];
91  }
92 
93 
94  /* DEPRECATED FUNCTIONS */
95  geometry_msgs::Pose addDelta(const geometry_msgs::Pose &pose, const geometry_msgs::Twist &twist, const double &t)
96  {
97  geometry_msgs::Pose result;
98  KDL::Twist kdl_twist;
99  KDL::Frame kdl_pose_id, kdl_pose;
100 
101  poseMsgToKDL(pose,kdl_pose);
102  twistMsgToKDL(twist,kdl_twist);
103  kdl_pose = KDL::addDelta(kdl_pose_id,kdl_twist,t)*kdl_pose;
104  poseKDLToMsg(kdl_pose,result);
105  return result;
106  }
107 
108 } // namespace tf
109 
void vectorKDLToTF(const KDL::Vector &k, tf::Vector3 &t)
Converts a tf Vector3 into a KDL Vector.
Definition: tf_kdl.cpp:86
TFSIMD_FORCE_INLINE Matrix3x3 & getBasis()
void transformKDLToTF(const KDL::Frame &k, tf::Transform &t)
Converts a KDL Frame into a tf Transform.
Definition: tf_kdl.cpp:71
static Rotation Quaternion(double x, double y, double z, double w)
void twistMsgToKDL(const geometry_msgs::Twist &m, KDL::Twist &k)
void quaternionKDLToTF(const KDL::Rotation &k, tf::Quaternion &t)
Converts a tf Quaternion into a KDL Rotation.
Definition: tf_kdl.cpp:56
Rotation M
void poseTFToKDL(const tf::Pose &t, KDL::Frame &k)
Converts a tf Pose into a KDL Frame.
Definition: tf_kdl.cpp:35
void poseKDLToTF(const KDL::Frame &k, tf::Pose &t)
Converts a KDL Frame into a tf Pose.
Definition: tf_kdl.cpp:43
void transformTFToKDL(const tf::Transform &t, KDL::Frame &k)
Converts a tf Transform into a KDL Frame.
Definition: tf_kdl.cpp:63
void vectorTFToKDL(const tf::Vector3 &t, KDL::Vector &k)
Converts a tf Vector3 into a KDL Vector.
Definition: tf_kdl.cpp:79
void poseMsgToKDL(const geometry_msgs::Pose &m, KDL::Frame &k)
void quaternionTFToKDL(const tf::Quaternion &t, KDL::Rotation &k)
Converts a tf Quaternion into a KDL Rotation.
Definition: tf_kdl.cpp:51
TFSIMD_FORCE_INLINE void setBasis(const Matrix3x3 &basis)
TFSIMD_FORCE_INLINE Vector3 & getOrigin()
ROS_DEPRECATED geometry_msgs::Pose addDelta(const geometry_msgs::Pose &pose, const geometry_msgs::Twist &twist, const double &t)
Starting from a Pose from A to B, apply a Twist with reference frame A and reference point B...
Definition: tf_kdl.cpp:95
IMETHOD doubleVel addDelta(const doubleVel &a, const doubleVel &da, double dt=1.0)
void poseKDLToMsg(const KDL::Frame &k, geometry_msgs::Pose &m)
void GetQuaternion(double &x, double &y, double &z, double &w) const
TFSIMD_FORCE_INLINE void setOrigin(const Vector3 &origin)
double data[9]


tf_conversions
Author(s): Tully Foote
autogenerated on Mon Feb 28 2022 22:26:30