tf_eigen.h
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00001 /*
00002  * Copyright (c) 2009-2012, 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:
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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.
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00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
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00029 
00030 // Author: Adam Leeper (and others)
00031 
00032 #ifndef CONVERSIONS_TF_EIGEN_H
00033 #define CONVERSIONS_TF_EIGEN_H
00034 
00035 #include "tf/transform_datatypes.h"
00036 #include "Eigen/Core"
00037 #include "Eigen/Geometry"
00038 
00039 namespace tf {
00040 
00042 void matrixTFToEigen(const tf::Matrix3x3 &t, Eigen::Matrix3d &e);
00043 
00045 void matrixEigenToTF(const Eigen::Matrix3d &e, tf::Matrix3x3 &t);
00046 
00048 void poseTFToEigen(const tf::Pose &t, Eigen::Affine3d &e);
00049 
00051 void poseTFToEigen(const tf::Pose &t, Eigen::Isometry3d &e);
00052 
00054 void poseEigenToTF(const Eigen::Affine3d &e, tf::Pose &t);
00055 
00057 void poseEigenToTF(const Eigen::Isometry3d &e, tf::Pose &t);
00058 
00060 void quaternionTFToEigen(const tf::Quaternion &t, Eigen::Quaterniond &e);
00061 
00063 void quaternionEigenToTF(const Eigen::Quaterniond &e, tf::Quaternion &t);
00064 
00066 void transformTFToEigen(const tf::Transform &t, Eigen::Affine3d &e);
00067 
00069 void transformTFToEigen(const tf::Transform &t, Eigen::Isometry3d &e);
00070 
00072 void transformEigenToTF(const Eigen::Affine3d &e, tf::Transform &t);
00073 
00075 void transformEigenToTF(const Eigen::Isometry3d &e, tf::Transform &t);
00076 
00078 void vectorTFToEigen(const tf::Vector3 &t, Eigen::Vector3d &e);
00079 
00081 void vectorEigenToTF(const Eigen::Vector3d &e, tf::Vector3 &t);
00082 
00083 } // namespace tf
00084 
00085 #endif


tf_conversions
Author(s): Tully Foote
autogenerated on Mon Jul 9 2018 02:37:36