utils.cpp
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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(), SE3::Vector3(p.x, p.y, p.z));
15  }
16  } // namespace details
17  } // namespace urdf
18 } // 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
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autogenerated on Fri Mar 7 2025 03:41:59