eigen_msg.cpp
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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
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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 #include <eigen_conversions/eigen_msg.h>
00032 
00033 namespace tf {
00034 
00035 void pointMsgToEigen(const geometry_msgs::Point &m, Eigen::Vector3d &e)
00036 {
00037   e(0) = m.x; 
00038   e(1) = m.y; 
00039   e(2) = m.z; 
00040 }
00041 
00042 void pointEigenToMsg(const Eigen::Vector3d &e, geometry_msgs::Point &m)
00043 {
00044   m.x = e(0);
00045   m.y = e(1);
00046   m.z = e(2);
00047 }
00048 
00049 namespace {
00050   template<typename T>
00051   void poseMsgToEigenImpl(const geometry_msgs::Pose &m, T &e)
00052   {
00053     e = Eigen::Translation3d(m.position.x,
00054                              m.position.y,
00055                              m.position.z) *
00056       Eigen::Quaterniond(m.orientation.w,
00057                          m.orientation.x,
00058                          m.orientation.y,
00059                          m.orientation.z);
00060   }
00061 
00062   template<typename T>
00063   void poseEigenToMsgImpl(const T &e, geometry_msgs::Pose &m)
00064   {
00065     m.position.x = e.translation()[0];
00066     m.position.y = e.translation()[1];
00067     m.position.z = e.translation()[2];
00068     Eigen::Quaterniond q = (Eigen::Quaterniond)e.linear();
00069     m.orientation.x = q.x();
00070     m.orientation.y = q.y();
00071     m.orientation.z = q.z();
00072     m.orientation.w = q.w();
00073     if (m.orientation.w < 0) {
00074       m.orientation.x *= -1;
00075       m.orientation.y *= -1;
00076       m.orientation.z *= -1;
00077       m.orientation.w *= -1;
00078     }
00079   }
00080 
00081   template<typename T>
00082   void transformMsgToEigenImpl(const geometry_msgs::Transform &m, T &e)
00083   {
00084     e = Eigen::Translation3d(m.translation.x,
00085                              m.translation.y,
00086                              m.translation.z) *
00087       Eigen::Quaterniond(m.rotation.w,
00088                          m.rotation.x,
00089                          m.rotation.y,
00090                          m.rotation.z);
00091   }
00092 
00093   template<typename T>
00094   void transformEigenToMsgImpl(const T &e, geometry_msgs::Transform &m)
00095   {
00096     m.translation.x = e.translation()[0];
00097     m.translation.y = e.translation()[1];
00098     m.translation.z = e.translation()[2];
00099     Eigen::Quaterniond q = (Eigen::Quaterniond)e.linear();
00100     m.rotation.x = q.x();
00101     m.rotation.y = q.y();
00102     m.rotation.z = q.z();
00103     m.rotation.w = q.w();
00104     if (m.rotation.w < 0) {
00105       m.rotation.x *= -1;
00106       m.rotation.y *= -1;
00107       m.rotation.z *= -1;
00108       m.rotation.w *= -1;
00109     }
00110   }
00111 }
00112 
00113 void poseMsgToEigen(const geometry_msgs::Pose &m, Eigen::Affine3d &e)
00114 {
00115   poseMsgToEigenImpl(m, e);
00116 }
00117 
00118 void poseMsgToEigen(const geometry_msgs::Pose &m, Eigen::Isometry3d &e)
00119 {
00120   poseMsgToEigenImpl(m, e);
00121 }
00122 
00123 void poseEigenToMsg(const Eigen::Affine3d &e, geometry_msgs::Pose &m)
00124 {
00125   poseEigenToMsgImpl(e, m);
00126 }
00127 
00128 void poseEigenToMsg(const Eigen::Isometry3d &e, geometry_msgs::Pose &m)
00129 {
00130   poseEigenToMsgImpl(e, m);
00131 }
00132 
00133 void quaternionMsgToEigen(const geometry_msgs::Quaternion &m, Eigen::Quaterniond &e)
00134 {
00135   e = Eigen::Quaterniond(m.w, m.x, m.y, m.z);
00136 }
00137 
00138 void quaternionEigenToMsg(const Eigen::Quaterniond &e, geometry_msgs::Quaternion &m)
00139 {
00140   m.x = e.x();
00141   m.y = e.y();
00142   m.z = e.z();
00143   m.w = e.w();
00144 }
00145 
00146 void transformMsgToEigen(const geometry_msgs::Transform &m, Eigen::Affine3d &e)
00147 {
00148   transformMsgToEigenImpl(m, e);
00149 }
00150 
00151 void transformMsgToEigen(const geometry_msgs::Transform &m, Eigen::Isometry3d &e)
00152 {
00153   transformMsgToEigenImpl(m, e);
00154 }
00155 
00156 void transformEigenToMsg(const Eigen::Affine3d &e, geometry_msgs::Transform &m)
00157 {
00158   transformEigenToMsgImpl(e, m);
00159 }
00160 
00161 void transformEigenToMsg(const Eigen::Isometry3d &e, geometry_msgs::Transform &m)
00162 {
00163   transformEigenToMsgImpl(e, m);
00164 }
00165 
00166 void vectorMsgToEigen(const geometry_msgs::Vector3 &m, Eigen::Vector3d &e)
00167 {
00168   e(0) = m.x; 
00169   e(1) = m.y; 
00170   e(2) = m.z; 
00171 }
00172 
00173 void vectorEigenToMsg(const Eigen::Vector3d &e, geometry_msgs::Vector3 &m)
00174 {
00175   m.x = e(0);
00176   m.y = e(1);
00177   m.z = e(2);
00178 }
00179 
00180 void twistMsgToEigen(const geometry_msgs::Twist &m, Eigen::Matrix<double,6,1> &e)
00181 {
00182   e[0] = m.linear.x;
00183   e[1] = m.linear.y;
00184   e[2] = m.linear.z;
00185   e[3] = m.angular.x;
00186   e[4] = m.angular.y;
00187   e[5] = m.angular.z;
00188 }
00189 
00190 void twistEigenToMsg(const Eigen::Matrix<double,6,1> &e, geometry_msgs::Twist &m)
00191 {
00192   m.linear.x = e[0];
00193   m.linear.y = e[1];
00194   m.linear.z = e[2];
00195   m.angular.x = e[3];
00196   m.angular.y = e[4];
00197   m.angular.z = e[5];
00198 }
00199 
00200 void wrenchMsgToEigen(const geometry_msgs::Wrench &m, Eigen::Matrix<double,6,1> &e)
00201 {
00202   e[0] = m.force.x;
00203   e[1] = m.force.y;
00204   e[2] = m.force.z;
00205   e[3] = m.torque.x;
00206   e[4] = m.torque.y;
00207   e[5] = m.torque.z;
00208 }
00209 
00210 void wrenchEigenToMsg(const Eigen::Matrix<double,6,1> &e, geometry_msgs::Wrench &m)
00211 {
00212   m.force.x = e[0];
00213   m.force.y = e[1];
00214   m.force.z = e[2];
00215   m.torque.x = e[3];
00216   m.torque.y = e[4];
00217   m.torque.z = e[5];
00218 }
00219 
00220 } // namespace


eigen_conversions
Author(s): Stuart Glaser, Adam Leeper
autogenerated on Sat Feb 24 2018 03:56:34