eigen_msg.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: Stuart Glaser
00032  */
00033 
00034 #ifndef EIGEN_MSG_CONVERSIONS_H
00035 #define EIGEN_MSG_CONVERSIONS_H
00036 
00037 #include <std_msgs/Float64MultiArray.h>
00038 #include <geometry_msgs/Point.h>
00039 #include <geometry_msgs/Pose.h>
00040 #include <geometry_msgs/Quaternion.h>
00041 #include <geometry_msgs/Transform.h>
00042 #include <geometry_msgs/Twist.h>
00043 #include <geometry_msgs/Vector3.h>
00044 #include <geometry_msgs/Wrench.h>
00045 
00046 #include <Eigen/Core>
00047 #include <Eigen/Geometry>
00048 
00049 namespace tf {
00050 
00052 void pointMsgToEigen(const geometry_msgs::Point &m, Eigen::Vector3d &e);
00053 
00055 void pointEigenToMsg(const Eigen::Vector3d &e, geometry_msgs::Point &m);
00056 
00058 void poseMsgToEigen(const geometry_msgs::Pose &m, Eigen::Affine3d &e);
00059 
00061 void poseMsgToEigen(const geometry_msgs::Pose &m, Eigen::Isometry3d &e);
00062 
00064 void poseEigenToMsg(const Eigen::Affine3d &e, geometry_msgs::Pose &m);
00065 
00067 void poseEigenToMsg(const Eigen::Isometry3d &e, geometry_msgs::Pose &m);
00068 
00070 void quaternionMsgToEigen(const geometry_msgs::Quaternion &m, Eigen::Quaterniond &e);
00071 
00073 void quaternionEigenToMsg(const Eigen::Quaterniond &e, geometry_msgs::Quaternion &m);
00074 
00076 void transformMsgToEigen(const geometry_msgs::Transform &m, Eigen::Affine3d &e);
00077 
00079 void transformMsgToEigen(const geometry_msgs::Transform &m, Eigen::Isometry3d &e);
00080 
00082 void transformEigenToMsg(const Eigen::Affine3d &e, geometry_msgs::Transform &m);
00083 
00085 void transformEigenToMsg(const Eigen::Isometry3d &e, geometry_msgs::Transform &m);
00086 
00088 void twistMsgToEigen(const geometry_msgs::Twist &m, Eigen::Matrix<double,6,1> &e);
00089 
00091 void twistEigenToMsg(const Eigen::Matrix<double,6,1> &e, geometry_msgs::Twist &m);
00092 
00094 void vectorMsgToEigen(const geometry_msgs::Vector3 &m, Eigen::Vector3d &e);
00095 
00097 void vectorEigenToMsg(const Eigen::Vector3d &e, geometry_msgs::Vector3 &m);
00098 
00100 void wrenchMsgToEigen(const geometry_msgs::Wrench &m, Eigen::Matrix<double,6,1> &e);
00101 
00103 void wrenchEigenToMsg(const Eigen::Matrix<double,6,1> &e, geometry_msgs::Wrench &m);
00104 
00106 template <class Derived>
00107 void matrixEigenToMsg(const Eigen::MatrixBase<Derived> &e, std_msgs::Float64MultiArray &m)
00108 {
00109   if (m.layout.dim.size() != 2)
00110     m.layout.dim.resize(2);
00111   m.layout.dim[0].stride = e.rows() * e.cols();
00112   m.layout.dim[0].size = e.rows();
00113   m.layout.dim[1].stride = e.cols();
00114   m.layout.dim[1].size = e.cols();
00115   if ((int)m.data.size() != e.size())
00116     m.data.resize(e.size());
00117   int ii = 0;
00118   for (int i = 0; i < e.rows(); ++i)
00119     for (int j = 0; j < e.cols(); ++j)
00120       m.data[ii++] = e.coeff(i, j);
00121 }
00122 
00123 } // namespace
00124 
00125 #endif


eigen_conversions
Author(s): Stuart Glaser, Adam Leeper
autogenerated on Wed Jan 3 2018 03:41:22