eigen_msg.cpp
Go to the documentation of this file.
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 #include <eigen_conversions/eigen_msg.h>
00032 
00033 namespace tf {
00034 
00035 void pointMsgToEigen(const geometry_msgs::Point &m, Eigen::Vector3d &e)
00036 {
00037   e(0) = m.x; 
00038   e(1) = m.y; 
00039   e(2) = m.z; 
00040 }
00041 
00042 void pointEigenToMsg(const Eigen::Vector3d &e, geometry_msgs::Point &m)
00043 {
00044   m.x = e(0);
00045   m.y = e(1);
00046   m.z = e(2);
00047 }
00048 
00049 void poseMsgToEigen(const geometry_msgs::Pose &m, Eigen::Affine3d &e)
00050 {
00051   e = Eigen::Translation3d(m.position.x,
00052                            m.position.y,
00053                            m.position.z) *
00054     Eigen::Quaterniond(m.orientation.w,
00055                        m.orientation.x,
00056                        m.orientation.y,
00057                        m.orientation.z);
00058 }
00059 
00060 void poseEigenToMsg(const Eigen::Affine3d &e, geometry_msgs::Pose &m)
00061 {
00062   m.position.x = e.translation()[0];
00063   m.position.y = e.translation()[1];
00064   m.position.z = e.translation()[2];
00065   Eigen::Quaterniond q = (Eigen::Quaterniond)e.linear();
00066   m.orientation.x = q.x();
00067   m.orientation.y = q.y();
00068   m.orientation.z = q.z();
00069   m.orientation.w = q.w();
00070   if (m.orientation.w < 0) {
00071     m.orientation.x *= -1;
00072     m.orientation.y *= -1;
00073     m.orientation.z *= -1;
00074     m.orientation.w *= -1;
00075   }
00076 }
00077 
00078 void quaternionMsgToEigen(const geometry_msgs::Quaternion &m, Eigen::Quaterniond &e)
00079 {
00080   e = Eigen::Quaterniond(m.w, m.x, m.y, m.z);
00081 }
00082 
00083 void quaternionEigenToMsg(const Eigen::Quaterniond &e, geometry_msgs::Quaternion &m)
00084 {
00085   m.x = e.x();
00086   m.y = e.y();
00087   m.z = e.z();
00088   m.w = e.w();
00089 }
00090 
00091 void transformMsgToEigen(const geometry_msgs::Transform &m, Eigen::Affine3d &e)
00092 { 
00093   e = Eigen::Translation3d(m.translation.x,
00094                            m.translation.y,
00095                            m.translation.z) *
00096     Eigen::Quaterniond(m.rotation.w,
00097                        m.rotation.x,
00098                        m.rotation.y,
00099                        m.rotation.z);
00100 }
00101 
00102 void transformEigenToMsg(const Eigen::Affine3d &e, geometry_msgs::Transform &m)
00103 {  
00104   m.translation.x = e.translation()[0];
00105   m.translation.y = e.translation()[1];
00106   m.translation.z = e.translation()[2];
00107   Eigen::Quaterniond q = (Eigen::Quaterniond)e.linear();
00108   m.rotation.x = q.x();
00109   m.rotation.y = q.y();
00110   m.rotation.z = q.z();
00111   m.rotation.w = q.w();
00112   if (m.rotation.w < 0) {
00113     m.rotation.x *= -1;
00114     m.rotation.y *= -1;
00115     m.rotation.z *= -1;
00116     m.rotation.w *= -1;
00117   }
00118 }
00119 
00120 void vectorMsgToEigen(const geometry_msgs::Vector3 &m, Eigen::Vector3d &e)
00121 {
00122   e(0) = m.x; 
00123   e(1) = m.y; 
00124   e(2) = m.z; 
00125 }
00126 
00127 void vectorEigenToMsg(const Eigen::Vector3d &e, geometry_msgs::Vector3 &m)
00128 {
00129   m.x = e(0);
00130   m.y = e(1);
00131   m.z = e(2);
00132 }
00133 
00134 void twistMsgToEigen(const geometry_msgs::Twist &m, Eigen::Matrix<double,6,1> &e)
00135 {
00136   e[0] = m.linear.x;
00137   e[1] = m.linear.y;
00138   e[2] = m.linear.z;
00139   e[3] = m.angular.x;
00140   e[4] = m.angular.y;
00141   e[5] = m.angular.z;
00142 }
00143 
00144 void twistEigenToMsg(const Eigen::Matrix<double,6,1> &e, geometry_msgs::Twist &m)
00145 {
00146   m.linear.x = e[0];
00147   m.linear.y = e[1];
00148   m.linear.z = e[2];
00149   m.angular.x = e[3];
00150   m.angular.y = e[4];
00151   m.angular.z = e[5];
00152 }
00153 
00154 void wrenchMsgToEigen(const geometry_msgs::Wrench &m, Eigen::Matrix<double,6,1> &e)
00155 {
00156   e[0] = m.force.x;
00157   e[1] = m.force.y;
00158   e[2] = m.force.z;
00159   e[3] = m.torque.x;
00160   e[4] = m.torque.y;
00161   e[5] = m.torque.z;
00162 }
00163 
00164 void wrenchEigenToMsg(const Eigen::Matrix<double,6,1> &e, geometry_msgs::Wrench &m)
00165 {
00166   m.force.x = e[0];
00167   m.force.y = e[1];
00168   m.force.z = e[2];
00169   m.torque.x = e[3];
00170   m.torque.y = e[4];
00171   m.torque.z = e[5];
00172 }
00173 
00174 } // namespace


eigen_conversions
Author(s): Stuart Glaser, Adam Leeper
autogenerated on Mon Oct 6 2014 00:11:59