# Ignition Math

## API Reference

6.9.3~pre2
Conversions.hh
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17
18 #ifndef IGNITION_MATH_EIGEN3_CONVERSIONS_HH_
19 #define IGNITION_MATH_EIGEN3_CONVERSIONS_HH_
20
21 #include <Eigen/Geometry>
23 #include <ignition/math/Matrix3.hh>
24 #include <ignition/math/Pose3.hh>
26 #include <ignition/math/Vector3.hh>
27
28 namespace ignition
29 {
30  namespace math
31  {
32  namespace eigen3
33  {
38  {
39  return Eigen::Vector3d(_v[0], _v[1], _v[2]);
40  }
41
46  inline Eigen::AlignedBox3d convert(
48  {
49  return Eigen::AlignedBox3d(convert(_b.Min()), convert(_b.Max()));
50  }
51
56  {
57  Eigen::Matrix3d matrix;
58  for (std::size_t i=0; i < 3; ++i)
59  {
60  for (std::size_t j=0; j < 3; ++j)
61  {
62  matrix(i, j) = _m(i, j);
63  }
64  }
65
66  return matrix;
67  }
68
73  {
74  Eigen::Quaterniond quat;
75  quat.w() = _q.W();
76  quat.x() = _q.X();
77  quat.y() = _q.Y();
78  quat.z() = _q.Z();
79
80  return quat;
81  }
82
86  inline Eigen::Isometry3d convert(const ignition::math::Pose3d &_pose)
87  {
88  Eigen::Isometry3d tf = Eigen::Isometry3d::Identity();
89  tf.translation() = convert(_pose.Pos());
90  tf.linear() = Eigen::Matrix3d(convert(_pose.Rot()));
91
92  return tf;
93  }
94
99  {
101  vec.X() = _v[0];
102  vec.Y() = _v[1];
103  vec.Z() = _v[2];
104
105  return vec;
106  }
107
112  const Eigen::AlignedBox3d &_b)
113  {
115  box.Min() = convert(_b.min());
116  box.Max() = convert(_b.max());
117
118  return box;
119  }
120
125  {
127  for (std::size_t i=0; i < 3; ++i)
128  {
129  for (std::size_t j=0; j < 3; ++j)
130  {
131  matrix(i, j) = _m(i, j);
132  }
133  }
134
135  return matrix;
136  }
137
142  {
144  quat.W() = _q.w();
145  quat.X() = _q.x();
146  quat.Y() = _q.y();
147  quat.Z() = _q.z();
148
149  return quat;
150  }
151
155  inline ignition::math::Pose3d convert(const Eigen::Isometry3d &_tf)
156  {
158  pose.Pos() = convert(Eigen::Vector3d(_tf.translation()));
159  pose.Rot() = convert(Eigen::Quaterniond(_tf.linear()));
160
161  return pose;
162  }
163  }
164  }
165 }
166
167 #endif
Quaternion< double > Quaterniond
Definition: Quaternion.hh:1101
const T & W() const
Get the w component.
Definition: Quaternion.hh:965
const T & Z() const
Get the z component.
Definition: Quaternion.hh:986
const Vector3d & Max() const
Get the maximum corner.
Encapsulates a position and rotation in three space.
Definition: Pose3.hh:34
Matrix3< double > Matrix3d
Definition: Matrix3.hh:548
const T & X() const
Get the x component.
Definition: Quaternion.hh:972
const T & Y() const
Get the y component.
Definition: Quaternion.hh:979
T X() const
Get the x value.
Definition: Vector3.hh:654
T Z() const
Get the z value.
Definition: Vector3.hh:668
T Y() const
Get the y value.
Definition: Vector3.hh:661
A 3x3 matrix class.
Definition: Matrix3.hh:40
const Quaternion< T > & Rot() const
Get the rotation.
Definition: Pose3.hh:420
The Vector3 class represents the generic vector containing 3 elements. Since it&#39;s commonly used to ke...
Definition: Vector3.hh:41
Vector3< double > Vector3d
Definition: Vector3.hh:770
const Vector3< T > & Pos() const
Get the position.
Definition: Pose3.hh:361
Definition: Angle.hh:42
const Vector3d & Min() const
Get the minimum corner.
A quaternion class.
Definition: Matrix3.hh:35
Eigen::Vector3d convert(const Vector3d &_v)
Convert from Vector3d to Eigen::Vector3d.
Definition: Conversions.hh:37
Mathematical representation of a box that is aligned along an X,Y,Z axis.
Definition: AxisAlignedBox.hh:42