src
parsers
urdf
utils.cpp
Go to the documentation of this file.
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#include "
pinocchio/parsers/urdf/utils.hpp
"
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namespace
pinocchio
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{
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namespace
urdf
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{
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namespace
details
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{
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SE3
convertFromUrdf
(const ::urdf::Pose & M)
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{
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const ::urdf::Vector3
&
p
=
M
.position;
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const ::urdf::Rotation &
q
=
M
.rotation;
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return
SE3
(
SE3::Quaternion
(
q
.w,
q
.x,
q
.y,
q
.z).matrix(),
SE3::Vector3
(
p
.x,
p
.y,
p
.z));
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}
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}
// namespace details
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}
// namespace urdf
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}
// namespace pinocchio
pinocchio::SE3Tpl< context::Scalar, context::Options >::Vector3
traits< SE3Tpl >::Vector3 Vector3
Definition:
spatial/se3-tpl.hpp:55
pinocchio::SE3Tpl< context::Scalar, context::Options >
pinocchio::urdf::details::convertFromUrdf
SE3 convertFromUrdf(const ::urdf::Pose &M)
Convert URDF Pose quantity to SE3.
Definition:
utils.cpp:10
dpendulum.p
p
Definition:
dpendulum.py:7
details
M
M
pinocchio::context::Vector3
Eigen::Matrix< Scalar, 3, 1, Options > Vector3
Definition:
context/generic.hpp:53
utils.hpp
pinocchio::q
JointCollectionTpl const Eigen::MatrixBase< ConfigVectorType > & q
Definition:
joint-configuration.hpp:1083
pinocchio::SE3Tpl< context::Scalar, context::Options >::Quaternion
Eigen::Quaternion< Scalar, Options > Quaternion
Definition:
spatial/se3-tpl.hpp:54
urdf
Definition:
types.hpp:29
pinocchio::SE3
SE3Tpl< context::Scalar, context::Options > SE3
Definition:
spatial/fwd.hpp:64
pinocchio
Main pinocchio namespace.
Definition:
timings.cpp:27
pinocchio
Author(s):
autogenerated on Sun Dec 22 2024 03:41:13