conversions.cpp

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/*
 * conversions.cpp
 *
 *  Created on: Apr 30, 2012
 *      Author: hess
 */

#include <coverage_3d_tools/conversions.h>

Eigen::VectorXf StdVector2Eigen(const std::vector<double>& v) {

    Eigen::VectorXf res = Eigen::VectorXf::Zero(v.size());
    for (unsigned int i = 0; i < v.size(); ++i) {
        res(i) = v[i];
    }
    return res;
}

std::vector<double> VectorEigen2Std(const Eigen::VectorXf& v) {

    std::vector<double> res;
    for (unsigned int i = 0; i < v.rows(); ++i) {
        res.push_back(v(i));
    }
    return res;
}

pcl::PointXYZ VectorEigen2PointXYZ(Eigen::Vector3f v) {
    pcl::PointXYZ p;
    p.x = v[0];
    p.y = v[1];
    p.z = v[2];
    return p;
}

Eigen::Vector3f PoseTF2EigenVector3(tf::Pose pose) {
    Eigen::Vector3f v;
    v[0] = pose.getOrigin()[0];
    v[1] = pose.getOrigin()[1];
    v[2] = pose.getOrigin()[2];
    return v;
}