footstep_conversions.cpp
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35 
38 
39 namespace jsk_footstep_planner
40 {
41  jsk_footstep_msgs::Footstep footstepFromEigenPose(Eigen::Affine3f pose)
42  {
43  jsk_footstep_msgs::Footstep footstep;
44  tf::poseEigenToMsg(pose, footstep.pose);
45  return footstep;
46  }
47  jsk_footstep_msgs::Footstep footstepFromEigenPose(Eigen::Affine3d pose)
48  {
49  jsk_footstep_msgs::Footstep footstep;
50  tf::poseEigenToMsg(pose, footstep.pose);
51  return footstep;
52  }
53 
54  visualization_msgs::Marker footstepToMarker(const jsk_footstep_msgs::Footstep& footstep,
55  const std_msgs::Header& header)
56  {
57  visualization_msgs::Marker marker;
58  marker.header = header;
59  marker.type = visualization_msgs::Marker::CUBE;
60  marker.scale = footstep.dimensions;
61  marker.color.a = 1.0;
62  marker.pose = footstep.pose;
63  if (footstep.leg == jsk_footstep_msgs::Footstep::LEFT) {
64  marker.color.g = 1.0;
65  }
66  else {
67  marker.color.r = 1.0;
68  }
69  return marker;
70  }
71 
72  visualization_msgs::MarkerArray footstepArrayToMarkerArray(const jsk_footstep_msgs::FootstepArray& footstep_array)
73  {
74  visualization_msgs::MarkerArray marker_array;
75  for (size_t i = 0; i < footstep_array.footsteps.size(); i++) {
76  jsk_footstep_msgs::Footstep footstep = footstep_array.footsteps[i];
77  visualization_msgs::Marker marker = footstepToMarker(footstep, footstep_array.header);
78  marker_array.markers.push_back(marker);
79  }
80  return marker_array;
81  }
82 }
marker_array
void poseEigenToMsg(const Eigen::Affine3d &e, geometry_msgs::Pose &m)
visualization_msgs::MarkerArray footstepArrayToMarkerArray(const jsk_footstep_msgs::FootstepArray &footstep_array)
jsk_footstep_msgs::Footstep footstepFromEigenPose(Eigen::Affine3f pose)
visualization_msgs::Marker footstepToMarker(const jsk_footstep_msgs::Footstep &footstep, const std_msgs::Header &header)


jsk_footstep_planner
Author(s): Ryohei Ueda
autogenerated on Thu Nov 14 2019 03:53:28