eigen_msg.h

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/*
 * Copyright (c) 2009, Willow Garage, Inc.
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/*
 * Author: Stuart Glaser
 */

#ifndef EIGEN_MSG_CONVERSIONS_H
#define EIGEN_MSG_CONVERSIONS_H

#include <std_msgs/Float64MultiArray.h>
#include <geometry_msgs/Point.h>
#include <geometry_msgs/Pose.h>
#include <geometry_msgs/Quaternion.h>
#include <geometry_msgs/Transform.h>
#include <geometry_msgs/Twist.h>
#include <geometry_msgs/Vector3.h>
#include <geometry_msgs/Wrench.h>

#include <Eigen/Core>
#include <Eigen/Geometry>

namespace tf {

void pointMsgToEigen(const geometry_msgs::Point &m, Eigen::Vector3d &e);

void pointEigenToMsg(const Eigen::Vector3d &e, geometry_msgs::Point &m);

void poseMsgToEigen(const geometry_msgs::Pose &m, Eigen::Affine3d &e);

void poseMsgToEigen(const geometry_msgs::Pose &m, Eigen::Isometry3d &e);

void poseEigenToMsg(const Eigen::Affine3d &e, geometry_msgs::Pose &m);

void poseEigenToMsg(const Eigen::Isometry3d &e, geometry_msgs::Pose &m);

void quaternionMsgToEigen(const geometry_msgs::Quaternion &m, Eigen::Quaterniond &e);

void quaternionEigenToMsg(const Eigen::Quaterniond &e, geometry_msgs::Quaternion &m);

void transformMsgToEigen(const geometry_msgs::Transform &m, Eigen::Affine3d &e);

void transformMsgToEigen(const geometry_msgs::Transform &m, Eigen::Isometry3d &e);

void transformEigenToMsg(const Eigen::Affine3d &e, geometry_msgs::Transform &m);

void transformEigenToMsg(const Eigen::Isometry3d &e, geometry_msgs::Transform &m);

void twistMsgToEigen(const geometry_msgs::Twist &m, Eigen::Matrix<double,6,1> &e);

void twistEigenToMsg(const Eigen::Matrix<double,6,1> &e, geometry_msgs::Twist &m);

void vectorMsgToEigen(const geometry_msgs::Vector3 &m, Eigen::Vector3d &e);

void vectorEigenToMsg(const Eigen::Vector3d &e, geometry_msgs::Vector3 &m);

void wrenchMsgToEigen(const geometry_msgs::Wrench &m, Eigen::Matrix<double,6,1> &e);

void wrenchEigenToMsg(const Eigen::Matrix<double,6,1> &e, geometry_msgs::Wrench &m);

template <class Derived>
void matrixEigenToMsg(const Eigen::MatrixBase<Derived> &e, std_msgs::Float64MultiArray &m)
{
  if (m.layout.dim.size() != 2)
    m.layout.dim.resize(2);
  m.layout.dim[0].stride = e.rows() * e.cols();
  m.layout.dim[0].size = e.rows();
  m.layout.dim[1].stride = e.cols();
  m.layout.dim[1].size = e.cols();
  if ((int)m.data.size() != e.size())
    m.data.resize(e.size());
  int ii = 0;
  for (int i = 0; i < e.rows(); ++i)
    for (int j = 0; j < e.cols(); ++j)
      m.data[ii++] = e.coeff(i, j);
}

} // namespace

#endif