eigen_kdl.cpp

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#include <eigen_conversions/eigen_kdl.h>

namespace tf {

void twistKDLToEigen(const KDL::Twist &k, Eigen::Matrix<double, 6, 1> &e)
{
  e[0] = k.vel.x();
  e[1] = k.vel.y();
  e[2] = k.vel.z();
  e[3] = k.rot.x();
  e[4] = k.rot.y();
  e[5] = k.rot.z();
}

void transformKDLToEigen(const KDL::Frame &k, Eigen::Affine3d &e)
{
  e(0,3) = k.p[0];
  e(1,3) = k.p[1];
  e(2,3) = k.p[2];

  e(0,0) = k.M(0,0);
  e(0,1) = k.M(0,1);
  e(0,2) = k.M(0,2);
  e(1,0) = k.M(1,0);
  e(1,1) = k.M(1,1);
  e(1,2) = k.M(1,2);
  e(2,0) = k.M(2,0);
  e(2,1) = k.M(2,1);
  e(2,2) = k.M(2,2);

  e(3,0) = 0.0;
  e(3,1) = 0.0;
  e(3,2) = 0.0;
  e(3,3) = 1.0;
}

} // namespace