Aikido
shape_conversions.hpp
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1 #ifndef AIKIDO_PERCEPTION_SHAPE_CONVERSIONS_HPP_
2 #define AIKIDO_PERCEPTION_SHAPE_CONVERSIONS_HPP_
3 
4 #include <Eigen/Dense>
5 #include <geometry_msgs/Pose.h>
6 #include <tf/LinearMath/Quaternion.h>
7 #include <tf/LinearMath/Vector3.h>
8 #include <tf/transform_listener.h>
9 
10 namespace aikido {
11 namespace perception {
12 
16 Eigen::Isometry3d convertROSPoseToEigen(const geometry_msgs::Pose& p);
17 
22 Eigen::Isometry3d convertStampedTransformToEigen(const tf::StampedTransform& t);
23 
24 } // namespace perception
25 } // namespace aikido
26 
27 #endif // AIKIDO_PERCEPTION_SHAPE_CONVERSIONS_HPP_
aikido
Format of serialized trajectory in YAML.
Definition: algorithm.hpp:4
aikido::perception::convertStampedTransformToEigen
Eigen::Isometry3d convertStampedTransformToEigen(const tf::StampedTransform &t)
Convert a time-stamped ROS transform to a 4 x 4 pose matrix.
aikido::perception::convertROSPoseToEigen
Eigen::Isometry3d convertROSPoseToEigen(const geometry_msgs::Pose &p)
Convert a ROS Pose (position + quaternion) to a 4 x 4 pose matrix.