Functions
void	robot_state::Transforms::transformPose (const std::string &from_frame, const Eigen::Affine3d &t_in, Eigen::Affine3d &t_out) const
	Transform a pose in from_frame to the target_frame.
void	robot_state::Transforms::transformQuaternion (const std::string &from_frame, const Eigen::Quaterniond &q_in, Eigen::Quaterniond &q_out) const
	Transform a quaternion in from_frame to the target_frame.
void	robot_state::Transforms::transformRotationMatrix (const std::string &from_frame, const Eigen::Matrix3d &m_in, Eigen::Matrix3d &m_out) const
	Transform a rotation matrix in from_frame to the target_frame.
void	robot_state::Transforms::transformVector3 (const std::string &from_frame, const Eigen::Vector3d &v_in, Eigen::Vector3d &v_out) const
	Transform a vector in from_frame to the target_frame.

Function Documentation

void robot_state::Transforms::transformPose	(	const std::string &	from_frame,
		const Eigen::Affine3d &	t_in,
		Eigen::Affine3d &	t_out
	)		const `[inline]`

Transform a pose in from_frame to the target_frame.

Parameters:

from_frame	The frame in which the input pose is specified
t_in	The input pose (in from_frame)
t_out	The resultant (transformed) pose

Definition at line 168 of file transforms.h.

void robot_state::Transforms::transformQuaternion	(	const std::string &	from_frame,
		const Eigen::Quaterniond &	q_in,
		Eigen::Quaterniond &	q_out
	)		const `[inline]`

Transform a quaternion in from_frame to the target_frame.

Parameters:

from_frame	The frame in which the input quaternion is specified
v_in	The input quaternion (in from_frame)
v_out	The resultant (transformed) quaternion

Definition at line 146 of file transforms.h.

void robot_state::Transforms::transformRotationMatrix	(	const std::string &	from_frame,
		const Eigen::Matrix3d &	m_in,
		Eigen::Matrix3d &	m_out
	)		const `[inline]`

Transform a rotation matrix in from_frame to the target_frame.

Parameters:

from_frame	The frame in which the input rotation matrix is specified
m_in	The input rotation matrix (in from_frame)
m_out	The resultant (transformed) rotation matrix

Definition at line 157 of file transforms.h.

void robot_state::Transforms::transformVector3	(	const std::string &	from_frame,
		const Eigen::Vector3d &	v_in,
		Eigen::Vector3d &	v_out
	)		const `[inline]`

Transform a vector in from_frame to the target_frame.

Parameters:

from_frame	The frame from which the transform is computed
v_in	The input vector (in from_frame)
v_out	The resultant (transformed) vector

Definition at line 135 of file transforms.h.

Functions