eigen_kdl.h
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00001 /*
00002  * Copyright (c) 2009, 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 
00030 /*
00031  * Author: Adam Leeper, Stuart Glaser
00032  */
00033 
00034 #ifndef EIGEN_KDL_CONVERSIONS_H
00035 #define EIGEN_KDL_CONVERSIONS_H
00036 
00037 #include <Eigen/Core>
00038 #include <Eigen/Geometry>
00039 
00040 #include <kdl/frames.hpp>
00041 
00042 namespace tf {
00043 
00045 void quaternionKDLToEigen(const KDL::Rotation &k, Eigen::Quaterniond &e);
00046 
00048 void quaternionEigenToKDL(const Eigen::Quaterniond &e, KDL::Rotation &k);
00049 
00051 void transformKDLToEigen(const KDL::Frame &k, Eigen::Affine3d &e);
00052 
00054 void transformKDLToEigen(const KDL::Frame &k, Eigen::Isometry3d &e);
00055 
00057 void transformEigenToKDL(const Eigen::Affine3d &e, KDL::Frame &k);
00058 
00060 void transformEigenToKDL(const Eigen::Isometry3d &e, KDL::Frame &k);
00061 
00063 void twistKDLToEigen(const KDL::Twist &k, Eigen::Matrix<double, 6, 1> &e);
00064 
00066 void twistEigenToKDL(const Eigen::Matrix<double, 6, 1> &e, KDL::Twist &k);
00067 
00069 void vectorKDLToEigen(const KDL::Vector &k, Eigen::Matrix<double, 3, 1> &e);
00070 
00072 void vectorEigenToKDL(const Eigen::Matrix<double, 3, 1> &e, KDL::Vector &k);
00073 
00075 void wrenchKDLToEigen(const KDL::Wrench &k, Eigen::Matrix<double, 6, 1> &e);
00076 
00078 void wrenchEigenToKDL(const Eigen::Matrix<double, 6, 1> &e, KDL::Wrench &k);
00079 
00080 } // namespace
00081 
00082 #endif


eigen_conversions
Author(s): Stuart Glaser, Adam Leeper
autogenerated on Thu Jun 6 2019 18:45:26