eigen_utils.h
Go to the documentation of this file.
00001 /*
00002  * Copyright (c) 2013, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  *
00029  * Author: Mario Prats
00030  */
00031 
00032 #ifndef EIGEN_UTILS_H
00033 #define EIGEN_UTILS_H
00034 
00035 #include <Eigen/Core>
00036 #include <Eigen/Geometry>
00037 #include <tf/transform_listener.h>
00038 
00039 namespace eigen_utils {
00040 
00046 void pseudoinverse(const Eigen::MatrixXd &M, Eigen::MatrixXd &Minv, double tolerance = 1.e-06);
00047 
00053 Eigen::MatrixXd pseudoinverse(const Eigen::MatrixXd &M, double tolerance = 1.e-06);
00054 
00059 void transformToPoseVector(const Eigen::Affine3d &M, Eigen::VectorXd &pose);
00060 
00065 Eigen::VectorXd transformToPoseVector(const Eigen::Affine3d &M);
00066 
00071 Eigen::Affine3d UThetaToAffine3d(const Eigen::Vector3d &u);
00072 
00078 Eigen::Affine3d direct_exponential_map(const Eigen::VectorXd &v, double delta_t);
00079 
00089 bool getTransform(const tf::TransformListener &listener, const std::string &target, const std::string source, Eigen::Affine3d &tMs,
00090                   const ros::Time &timestamp = ros::Time::now(), const ros::Duration &timeout = ros::Duration(5.0));
00091 
00092 
00093 } // namespace
00094 
00095 #endif


eigen_utils
Author(s): Mario Prats
autogenerated on Sun Oct 5 2014 23:42:02