/usr/include/eigen_conversions/eigen_kdl.h is in libtf-conversions-dev 1.11.8-4.
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* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
/*
* Author: Adam Leeper, Stuart Glaser
*/
#ifndef EIGEN_KDL_CONVERSIONS_H
#define EIGEN_KDL_CONVERSIONS_H
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <kdl/frames.hpp>
namespace tf {
/// Converts a KDL rotation into an Eigen quaternion
void quaternionKDLToEigen(const KDL::Rotation &k, Eigen::Quaterniond &e);
/// Converts an Eigen quaternion into a KDL rotation
void quaternionEigenToKDL(const Eigen::Quaterniond &e, KDL::Rotation &k);
/// Converts a KDL frame into an Eigen Affine3d
void transformKDLToEigen(const KDL::Frame &k, Eigen::Affine3d &e);
/// Converts a KDL frame into an Eigen Isometry3d
void transformKDLToEigen(const KDL::Frame &k, Eigen::Isometry3d &e);
/// Converts an Eigen Affine3d into a KDL frame
void transformEigenToKDL(const Eigen::Affine3d &e, KDL::Frame &k);
/// Converts an Eigen Isometry3d into a KDL frame
void transformEigenToKDL(const Eigen::Isometry3d &e, KDL::Frame &k);
/// Converts a KDL twist into an Eigen matrix
void twistKDLToEigen(const KDL::Twist &k, Eigen::Matrix<double, 6, 1> &e);
/// Converts an Eigen matrix into a KDL Twist
void twistEigenToKDL(const Eigen::Matrix<double, 6, 1> &e, KDL::Twist &k);
/// Converts a KDL vector into an Eigen matrix
void vectorKDLToEigen(const KDL::Vector &k, Eigen::Matrix<double, 3, 1> &e);
/// Converts an Eigen matrix into a KDL vector
void vectorEigenToKDL(const Eigen::Matrix<double, 3, 1> &e, KDL::Vector &k);
/// Converts a KDL wrench into an Eigen matrix
void wrenchKDLToEigen(const KDL::Wrench &k, Eigen::Matrix<double, 6, 1> &e);
/// Converts an Eigen matrix into a KDL wrench
void wrenchEigenToKDL(const Eigen::Matrix<double, 6, 1> &e, KDL::Wrench &k);
} // namespace
#endif
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