eigen_conversions: eigen_kdl.cpp Source File

00001 /*
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00005  * Redistribution and use in source and binary forms, with or without
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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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00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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00029 
00030 #include <eigen_conversions/eigen_kdl.h>
00031 
00032 namespace tf {
00033 
00034 void twistKDLToEigen(const KDL::Twist &k, Eigen::Matrix<double, 6, 1> &e)
00035 {
00036   e[0] = k.vel.x();
00037   e[1] = k.vel.y();
00038   e[2] = k.vel.z();
00039   e[3] = k.rot.x();
00040   e[4] = k.rot.y();
00041   e[5] = k.rot.z();
00042 }
00043 
00044 void transformKDLToEigen(const KDL::Frame &k, Eigen::eigen2_Transform3d &e)
00045 {
00046   e(0,3) = k.p[0];
00047   e(1,3) = k.p[1];
00048   e(2,3) = k.p[2];
00049 
00050   e(0,0) = k.M(0,0);
00051   e(0,1) = k.M(0,1);
00052   e(0,2) = k.M(0,2);
00053   e(1,0) = k.M(1,0);
00054   e(1,1) = k.M(1,1);
00055   e(1,2) = k.M(1,2);
00056   e(2,0) = k.M(2,0);
00057   e(2,1) = k.M(2,1);
00058   e(2,2) = k.M(2,2);
00059 
00060   e(3,0) = 0.0;
00061   e(3,1) = 0.0;
00062   e(3,2) = 0.0;
00063   e(3,3) = 1.0;
00064 }
00065 
00066 } // namespace