conversions.h File Reference

Contains global conversion functions. More...

#include <Eigen/Dense>
#include <tf/LinearMath/Matrix3x3.h>
#include <tf/LinearMath/Quaternion.h>
#include <tf_conversions/tf_eigen.h>
#include <geometry_msgs/Quaternion.h>
#include <geometry_msgs/Point.h>
#include <geometry_msgs/Vector3.h>
#include <ow_core/quaternion_ref.h>

Go to the source code of this file.

Functions
void	ow_core::matrixTFToEigenQuaterniond (const tf::Matrix3x3 &t, Eigen::Quaterniond &e)
	Converts a tf::Matrix3x3 into an Eigen::Quaterniond.
template<typename _Derived >
void	ow_core::matrixTFToEigenQuaternion (const tf::Matrix3x3 &t, Eigen::QuaternionBase< _Derived > &e)
	Converts a tf::Matrix3x3 into an Eigen::QuaternionBase.
template<typename _Derived >
void	ow_core::matrixTFToEigenMatrix (const tf::Matrix3x3 &t, Eigen::MatrixBase< _Derived > &e)
	Converts a tf::Matrix3x3 into an Eigen::Matrix3.
void	ow_core::quaterniondEigenToMatrixTF (const Eigen::Quaterniond &e, tf::Matrix3x3 &t)
	Converts an Eigen::Quaterniond into a tf::Matrix3x3.
template<typename _Derived >
void	ow_core::quaternionEigenToMatrixTF (const Eigen::QuaternionBase< _Derived > &e, tf::Matrix3x3 &t)
	Converts an Eigen::QuaternionBase into a tf::Matrix3x3.
template<typename _Derived >
void	ow_core::matrixEigenToMatrixTF (const Eigen::MatrixBase< _Derived > &e, tf::Matrix3x3 &t)
	Converts an Eigen::MatrixBase into a tf::Matrix3x3.
template<typename _Derived >
void	ow_core::quaternionTFToEigenQuaternion (const tf::Quaternion &t, Eigen::QuaternionBase< _Derived > &e)
	Converts a tf::Quaternion into an Eigen::QuaternionBase.
template<typename _Derived >
void	ow_core::quaternionTFToEigenMatrix (const tf::Quaternion &t, Eigen::MatrixBase< _Derived > &e)
	Converts a tf::Quaternion into an Eigen::MatrixBase.
template<typename _Derived >
void	ow_core::quaternionEigenToQuaternionTF (const Eigen::QuaternionBase< _Derived > &e, tf::Quaternion &t)
	Converts a tf::Quaternion into an Eigen::QuaternionBase.
template<typename _Derived >
void	ow_core::matrixEigenToQuaternionTF (const Eigen::MatrixBase< _Derived > &e, tf::Quaternion &t)
void	ow_core::quaternionMsgToEigenQuaterniond (const geometry_msgs::Quaternion &t, Eigen::Quaterniond &e)
	Converts a geometry_msgs::Quaternion into an Eigen::Quaterniond.
template<typename _Derived >
void	ow_core::quaternionMsgToEigenQuaternion (const geometry_msgs::Quaternion &t, Eigen::QuaternionBase< _Derived > &e)
	Converts a geometry_msgs::Quaternion into an Eigen::QuaternionBase.
template<typename _Derived >
void	ow_core::quaternionMsgToEigenMatrix (const geometry_msgs::Quaternion &t, Eigen::MatrixBase< _Derived > &e)
	Converts a geometry_msgs::Quaternion into an Eigen::Matrix3.
void	ow_core::quaterniondEigenToQuaternionMsg (const Eigen::Quaterniond &e, geometry_msgs::Quaternion &t)
	Converts an Eigen::Quaterniond into a geometry_msgs::Quaternion.
template<typename _Derived >
void	ow_core::quaternionEigenToQuaternionMsg (const Eigen::QuaternionBase< _Derived > &e, geometry_msgs::Quaternion &t)
	Converts an Eigen::QuaternionBase to a geometry_msgs::Quaternion.
template<typename _Derived >
void	ow_core::matrixEigenToQuaternionMsg (const Eigen::MatrixBase< _Derived > &e, geometry_msgs::Quaternion &t)
	Converts an Eigen::Matrix3 to a geometry_msgs::Quaternion.
void	ow_core::vector3dEigenToPointMsg (const Eigen::Vector3d &e, geometry_msgs::Point &t)
	Converts an Eigen::Vector3d into a geometry_msgs::Point.
template<typename _Derived >
void	ow_core::vector3EigenToPointMsg (const Eigen::MatrixBase< _Derived > &e, geometry_msgs::Point &t)
	Converts an Eigen::EigenBase to a geometry_msgs::Point.
void	ow_core::vector3dEigenToVector3Msg (const Eigen::Vector3d &e, geometry_msgs::Vector3 &t)
	Converts an Eigen::Vector3d into a geometry_msgs::Point.
template<typename _Derived >
void	ow_core::vector3EigenToVector3Msg (const Eigen::MatrixBase< _Derived > &e, geometry_msgs::Vector3 &t)
	Converts an Eigen::EigenBase to a geometry_msgs::Point. More...
void	ow_core::pointMsgToEigenVector3d (const geometry_msgs::Point &t, Eigen::Vector3d &e)
	Converts a geometry_msgs::Point into an Eigen::Vector3d.
template<typename _Derived >
void	ow_core::pointMsgToEigenVector3 (const geometry_msgs::Point &t, Eigen::MatrixBase< _Derived > &e)
	Converts a geometry_msgs::Point into an Eigen::EigenBase.
void	ow_core::vector3MsgToEigenVector3d (const geometry_msgs::Vector3 &t, Eigen::Vector3d &e)
	Converts a geometry_msgs::Vector3 into an Eigen::Vector3d.
template<typename _Derived >
void	ow_core::vector3MsgToEigenVector3 (const geometry_msgs::Vector3 &t, Eigen::MatrixBase< _Derived > &e)
	Converts a geometry_msgs::Vector3 into an Eigen::EigenBase.
template<typename _Derived >
void	ow_core::vector3EigenToVector3TF (const Eigen::MatrixBase< _Derived > &e, tf::Vector3 &t)
	Converts an Eigen::EigenBase into a tf::Vector3.
template<typename _Derived >
void	ow_core::vector3TFToVector3Eigen (const tf::Vector3 &t, Eigen::MatrixBase< _Derived > &e)
	Converts an tf::Vector3 into Eigen::EigenBase.

Detailed Description

Contains global conversion functions.

Author

Emmanuel Dean-Leon

Florian Bergner

J. Rogelio Guadarrama-Olvera

Simon Armleder

Gordon Cheng

Version

0.1

Date

14.02.2020

Copyright

Copyright 2020 Institute for Cognitive Systems (ICS), Technical University of Munich (TUM)

Licence

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at

http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

Acknowledgment

This project has received funding from the European Union‘s Horizon 2020 research and innovation programme under grant agreement No 732287.

Contains all the global conversion functions to convert between:

• the OpenWalker types
• the Eigen types
• the ROS tf types
• the ROS geometry_msgs types

Function Documentation

template<typename _Derived >

void ow_core::vector3EigenToVector3Msg	(	const Eigen::MatrixBase< _Derived > &	e,
		geometry_msgs::Vector3 &	t
	)

Converts an Eigen::EigenBase to a geometry_msgs::Point.

Todo:

odd template syntax for cast<>(): https://stackoverflow.com/questions/3786360/confusing-template-error