src
parsers
urdf
utils.cpp
Go to the documentation of this file.
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#include "
pinocchio/parsers/urdf/utils.hpp
"
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namespace
pinocchio
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{
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namespace
urdf
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{
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namespace
details
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{
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SE3
convertFromUrdf
(const ::urdf::Pose & M)
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{
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const ::urdf::Vector3 &
p
=
M
.position;
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const ::urdf::Rotation &
q
=
M
.rotation;
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return
SE3
(
SE3::Quaternion
(
q
.w,
q
.x,
q
.y,
q
.z).matrix(), SE3::Vector3(
p
.x,
p
.y,
p
.z));
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}
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}
// namespace details
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}
// namespace urdf
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}
// namespace pinocchio
pinocchio::SE3
context::SE3 SE3
Definition:
spatial/fwd.hpp:59
pinocchio::urdf::details::convertFromUrdf
SE3 convertFromUrdf(const ::urdf::Pose &M)
Convert URDF Pose quantity to SE3.
Definition:
utils.cpp:10
pinocchio::python::context::Quaternion
Eigen::Quaternion< Scalar, Options > Quaternion
Definition:
bindings/python/context/generic.hpp:49
dpendulum.p
p
Definition:
dpendulum.py:7
details
M
M
utils.hpp
pinocchio::q
JointCollectionTpl const Eigen::MatrixBase< ConfigVectorType > & q
Definition:
joint-configuration.hpp:1083
urdf
Definition:
types.hpp:29
pinocchio
Main pinocchio namespace.
Definition:
timings.cpp:27
pinocchio
Author(s):
autogenerated on Fri Mar 7 2025 03:41:59