ori_tool.cpp File Reference

#include "rm_common/ori_tool.h"
#include "rm_common/math_utilities.h"
#include <eigen3/Eigen/Eigenvalues>

Include dependency graph for ori_tool.cpp:

Go to the source code of this file.

Functions
tf2::Quaternion	getAverageQuaternion (const std::vector< tf2::Quaternion > &quaternions, const std::vector< double > &weights)
void	quatToRPY (const geometry_msgs::Quaternion &q, double &roll, double &pitch, double &yaw)
tf2::Quaternion	rotationMatrixToQuaternion (const Eigen::Map< Eigen::Matrix3d > &rot)
double	yawFromQuat (const geometry_msgs::Quaternion &q)

Function Documentation

getAverageQuaternion()

tf2::Quaternion getAverageQuaternion	(	const std::vector< tf2::Quaternion > &	quaternions,
		const std::vector< double > &	weights
	)

Definition at line 57 of file ori_tool.cpp.

quatToRPY()

void quatToRPY	(	const geometry_msgs::Quaternion &	q,
		double &	roll,
		double &	pitch,
		double &	yaw
	)

Convert a quaternion to RPY. Uses ZYX order (yaw-pitch-roll), but returns angles in (roll, pitch, yaw).

Definition at line 42 of file ori_tool.cpp.

rotationMatrixToQuaternion()

tf2::Quaternion rotationMatrixToQuaternion

(

const Eigen::Map< Eigen::Matrix3d > &

rot

)

Definition at line 93 of file ori_tool.cpp.

yawFromQuat()

double yawFromQuat

(

const geometry_msgs::Quaternion &

q

)

Definition at line 50 of file ori_tool.cpp.