eigen_conversions.h

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#ifndef RVE_COMMON_EIGEN_CONVERSIONS_H
#define RVE_COMMON_EIGEN_CONVERSIONS_H

#include <Eigen/Geometry>
#include <rve_msgs/Vector3.h>
#include <rve_msgs/Quaternion.h>
#include <rve_msgs/Matrix4.h>

namespace rve_common
{

inline Eigen::Vector3f msgToEigen(const rve_msgs::Vector3& v)
{
  return Eigen::Vector3f(v.x, v.y, v.z);
}

inline Eigen::Quaternionf msgToEigen(const rve_msgs::Quaternion& q)
{
  return Eigen::Quaternionf(q.w, q.x, q.y, q.z);
}

inline Eigen::Matrix4f msgToEigen(const rve_msgs::Matrix4& m)
{
  Eigen::Matrix4f em;
  int source_index = 0;
  for( int row = 0; row < 4; row++ )
  {
    for( int col = 0; col < 4; col++ )
    {
      em( row, col ) = m.m[source_index++];
    }
  }
  return em;
}

inline rve_msgs::Vector3 eigenToMsg(Eigen::Vector3f v)
{
  rve_msgs::Vector3 r;
  r.x = v.x();
  r.y = v.y();
  r.z = v.z();
  return r;
}

inline rve_msgs::Quaternion eigenToMsg(Eigen::Quaternionf q)
{
  rve_msgs::Quaternion r;
  r.x = q.x();
  r.y = q.y();
  r.z = q.z();
  r.w = q.w();
  return r;
}

}

#endif // RVE_COMMON_EIGEN_CONVERSIONS_H