ManifConversions.h file
Namespaces
- namespace BipedalLocomotion
- namespace BipedalLocomotion::Conversions
Functions
-
template<class Scalar>auto toManifPose(const Eigen::Matrix<Scalar, 3, 3>& rotation, const Eigen::Matrix<Scalar, 3, 1>& translation) -> manif::SE3<Scalar>
- Convert rotation matrix and translation vector to manif SE3 object.
- auto toManifPose(Eigen::Ref<const Eigen::Matrix3d> rotation, Eigen::Ref<const Eigen::Vector3d> translation) -> manif::SE3d
- Convert rotation matrix and translation vector to manif SE3d object.
- auto toManifPose(const iDynTree::Transform& H) -> manif::SE3d
- Convert iDynTree transform object to manif SE3d object.
-
template<class Scalar>auto toManifRot(const Eigen::Matrix<Scalar, 3, 3>& rotation) -> manif::SO3<Scalar>
- Convert rotation matrix to manif SO3 object.
- auto toManifRot(Eigen::Ref<const Eigen::Matrix3d> rotation) -> manif::SO3d
- Convert rotation matrix to manif SO3d object.
- auto toManifRot(const iDynTree::Rotation& R) -> manif::SO3d
- Convert iDynTree rotation object to manif SE3d object.
- auto toManifTwist(const iDynTree::Twist& twist) -> manif::SE3Tangentd
- Convert iDynTree twist object to manif SE3Tangentd object.
- auto toiDynTreePose(const manif::SE3d& se3) -> iDynTree::Transform
- Convert a manif SE3 object into and iDynTree::Transform.
- auto toiDynTreeRot(const manif::SO3d& so3) -> iDynTree::Rotation
- Convert a manif SO3 object into and iDynTree::Rotation.
Function documentation
template<class Scalar>
manif::SE3<Scalar> toManifPose(const Eigen::Matrix<Scalar, 3, 3>& rotation,
const Eigen::Matrix<Scalar, 3, 1>& translation)
Convert rotation matrix and translation vector to manif SE3 object.
| Parameters | |
|---|---|
| rotation | reference to 3x3 Eigen matrix |
| translation | reference of 3x1 Eigen matrix |
| Returns | pose as manif SE3 object |
manif::SE3d toManifPose(Eigen::Ref<const Eigen::Matrix3d> rotation, Eigen::Ref<const Eigen::Vector3d> translation)
Convert rotation matrix and translation vector to manif SE3d object.
| Parameters | |
|---|---|
| rotation | Eigen ref of 3x3 rotation matrix |
| translation | Eigen ref of 3x1 translation vector |
| Returns | pose as manif SE3d object |
manif::SE3d toManifPose(const iDynTree::Transform& H)
Convert iDynTree transform object to manif SE3d object.
| Parameters | |
|---|---|
| H | reference to iDynTree Tranform object |
| Returns | pose as manif SE3d object |
template<class Scalar>
manif::SO3<Scalar> toManifRot(const Eigen::Matrix<Scalar, 3, 3>& rotation)
Convert rotation matrix to manif SO3 object.
| Parameters | |
|---|---|
| rotation | reference to 3x3 Eigen matrix |
| Returns | pose as manif SO3 object |
manif::SO3d toManifRot(Eigen::Ref<const Eigen::Matrix3d> rotation)
Convert rotation matrix to manif SO3d object.
| Parameters | |
|---|---|
| rotation | Eigen ref of 3x3 rotation matrix |
| Returns | pose as manif SO3d object |
manif::SO3d toManifRot(const iDynTree::Rotation& R)
Convert iDynTree rotation object to manif SE3d object.
| Parameters | |
|---|---|
| R | reference to iDynTree rotation object |
| Returns | pose as manif SO3d object |
manif::SE3Tangentd toManifTwist(const iDynTree::Twist& twist)
Convert iDynTree twist object to manif SE3Tangentd object.
| Parameters | |
|---|---|
| twist | reference to iDynTree twist object |
| Returns | a twist as manif SE3Tangentd object |
iDynTree::Transform toiDynTreePose(const manif::SE3d& se3)
Convert a manif SE3 object into and iDynTree::Transform.
| Parameters | |
|---|---|
| se3 | a manif SE3 object |
| Returns | pose as iDynTree::Transform |
iDynTree::Rotation toiDynTreeRot(const manif::SO3d& so3)
Convert a manif SO3 object into and iDynTree::Rotation.
| Parameters | |
|---|---|
| so3 | a manif SO3 object |
| Returns | rotation as iDynTree::Rotation |