tf_kdl.cpp

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#include "tf_conversions/tf_kdl.h"

namespace tf {

  void VectorTFToKDL(const tf::Vector3& t, KDL::Vector& k)
  {
    k = KDL::Vector(t[0], t[1], t[2]);
  }

  void RotationTFToKDL(const tf::Quaternion& t, KDL::Rotation& k)
  {
    k = KDL::Rotation::Quaternion(t[0], t[1], t[2], t[3]);
  }

  void TransformTFToKDL(const tf::Transform &t, KDL::Frame &k)
  {
    for (unsigned int i = 0; i < 3; ++i)
      k.p[i] = t.getOrigin()[i];
    for (unsigned int i = 0; i < 9; ++i)
      k.M.data[i] = t.getBasis()[i/3][i%3];
  }

  void TransformKDLToTF(const KDL::Frame &k, tf::Transform &t)
  {
    t.setOrigin(tf::Vector3(k.p[0], k.p[1], k.p[2]));
    t.setBasis(tf::Matrix3x3(k.M.data[0], k.M.data[1], k.M.data[2],
                           k.M.data[3], k.M.data[4], k.M.data[5],
                           k.M.data[6], k.M.data[7], k.M.data[8]));
  }

  void PoseTFToKDL(const tf::Pose& t, KDL::Frame& k)
  {
    for (unsigned int i = 0; i < 3; ++i)
      k.p[i] = t.getOrigin()[i];
    for (unsigned int i = 0; i < 9; ++i)
      k.M.data[i] = t.getBasis()[i/3][i%3];
  }

  void PoseKDLToTF(const KDL::Frame& k, tf::Pose& t)
  {
    t.setOrigin(tf::Vector3(k.p[0], k.p[1], k.p[2]));
    t.setBasis(tf::Matrix3x3(k.M.data[0], k.M.data[1], k.M.data[2],
                           k.M.data[3], k.M.data[4], k.M.data[5],
                           k.M.data[6], k.M.data[7], k.M.data[8]));
  }

  void TwistKDLToMsg(const KDL::Twist &t, geometry_msgs::Twist &m)
  {
    m.linear.x = t.vel[0];
    m.linear.y = t.vel[1];
    m.linear.z = t.vel[2];
    m.angular.x = t.rot[0];
    m.angular.y = t.rot[1];
    m.angular.z = t.rot[2];
  }

  void TwistMsgToKDL(const geometry_msgs::Twist &m, KDL::Twist &t)
  {
    t.vel[0] = m.linear.x;
    t.vel[1] = m.linear.y;
    t.vel[2] = m.linear.z;
    t.rot[0] = m.angular.x;
    t.rot[1] = m.angular.y;
    t.rot[2] = m.angular.z;
  }

  void PoseMsgToKDL(const geometry_msgs::Pose &p, KDL::Frame &t)
  {
    tf::Pose pose_tf;
    tf::poseMsgToTF(p,pose_tf);
    PoseTFToKDL(pose_tf,t);
  }

  void PoseKDLToMsg(const KDL::Frame &t, geometry_msgs::Pose &p)
  {
    tf::Pose pose_tf;
    PoseKDLToTF(t,pose_tf);
    tf::poseTFToMsg(pose_tf,p);
  }

  geometry_msgs::Pose addDelta(const geometry_msgs::Pose &pose, const geometry_msgs::Twist &twist, const double &t)
  {
    geometry_msgs::Pose result;
    KDL::Twist kdl_twist;
    KDL::Frame kdl_pose_id, kdl_pose;

    PoseMsgToKDL(pose,kdl_pose);
    TwistMsgToKDL(twist,kdl_twist);
    kdl_pose = KDL::addDelta(kdl_pose_id,kdl_twist,t)*kdl_pose;
    PoseKDLToMsg(kdl_pose,result);
    return result;
  }
}