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* Copyright (c) 2009-2012, Willow Garage, Inc.
* All rights reserved.
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* modification, are permitted provided that the following conditions are met:
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* * 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
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* * 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.
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// Author: Adam Leeper (and others)
#ifndef CONVERSIONS_TF_EIGEN_H
#define CONVERSIONS_TF_EIGEN_H
#include "tf/transform_datatypes.h"
#include "Eigen/Core"
#include "Eigen/Geometry"
namespace tf {
/// Converts a tf Matrix3x3 into an Eigen Quaternion
void matrixTFToEigen(const tf::Matrix3x3 &t, Eigen::Matrix3d &e);
/// Converts an Eigen Quaternion into a tf Matrix3x3
void matrixEigenToTF(const Eigen::Matrix3d &e, tf::Matrix3x3 &t);
/// Converts a tf Pose into an Eigen Affine3d
void poseTFToEigen(const tf::Pose &t, Eigen::Affine3d &e);
/// Converts a tf Pose into an Eigen Isometry3d
void poseTFToEigen(const tf::Pose &t, Eigen::Isometry3d &e);
/// Converts an Eigen Affine3d into a tf Transform
void poseEigenToTF(const Eigen::Affine3d &e, tf::Pose &t);
/// Converts an Eigen Isometry3d into a tf Transform
void poseEigenToTF(const Eigen::Isometry3d &e, tf::Pose &t);
/// Converts a tf Quaternion into an Eigen Quaternion
void quaternionTFToEigen(const tf::Quaternion &t, Eigen::Quaterniond &e);
/// Converts an Eigen Quaternion into a tf Quaternion
void quaternionEigenToTF(const Eigen::Quaterniond &e, tf::Quaternion &t);
/// Converts a tf Transform into an Eigen Affine3d
void transformTFToEigen(const tf::Transform &t, Eigen::Affine3d &e);
/// Converts a tf Transform into an Eigen Isometry3d
void transformTFToEigen(const tf::Transform &t, Eigen::Isometry3d &e);
/// Converts an Eigen Affine3d into a tf Transform
void transformEigenToTF(const Eigen::Affine3d &e, tf::Transform &t);
/// Converts an Eigen Isometry3d into a tf Transform
void transformEigenToTF(const Eigen::Isometry3d &e, tf::Transform &t);
/// Converts a tf Vector3 into an Eigen Vector3d
void vectorTFToEigen(const tf::Vector3 &t, Eigen::Vector3d &e);
/// Converts an Eigen Vector3d into a tf Vector3
void vectorEigenToTF(const Eigen::Vector3d &e, tf::Vector3 &t);
} // namespace tf
#endif
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