ROS 內置eigen庫的使用

eigen庫

use it

eigen_msg.h 可用於 ros getmetry_msgs的各種消息與 Eigen消息的類型轉換

namespace tf {

/// Converts a Point message into an Eigen Vector
void pointMsgToEigen(const geometry_msgs::Point &m, Eigen::Vector3d &e);

/// Converts an Eigen Vector into a Point message
void pointEigenToMsg(const Eigen::Vector3d &e, geometry_msgs::Point &m);

/// Converts a Pose message into an Eigen Affine3d
void poseMsgToEigen(const geometry_msgs::Pose &m, Eigen::Affine3d &e);

/// Converts a Pose message into an Eigen Isometry3d
void poseMsgToEigen(const geometry_msgs::Pose &m, Eigen::Isometry3d &e);

/// Converts an Eigen Affine3d into a Pose message
void poseEigenToMsg(const Eigen::Affine3d &e, geometry_msgs::Pose &m);

/// Converts an Eigen Isometry3d into a Pose message
void poseEigenToMsg(const Eigen::Isometry3d &e, geometry_msgs::Pose &m);

/// Converts a Quaternion message into an Eigen Quaternion
void quaternionMsgToEigen(const geometry_msgs::Quaternion &m, Eigen::Quaterniond &e);

/// Converts an Eigen Quaternion into a Quaternion message
void quaternionEigenToMsg(const Eigen::Quaterniond &e, geometry_msgs::Quaternion &m);

/// Converts a Transform message into an Eigen Affine3d
void transformMsgToEigen(const geometry_msgs::Transform &m, Eigen::Affine3d &e);

/// Converts a Transform message into an Eigen Isometry3d
void transformMsgToEigen(const geometry_msgs::Transform &m, Eigen::Isometry3d &e);

/// Converts an Eigen Affine3d into a Transform message
void transformEigenToMsg(const Eigen::Affine3d &e, geometry_msgs::Transform &m);

/// Converts an Eigen Isometry3d into a Transform message
void transformEigenToMsg(const Eigen::Isometry3d &e, geometry_msgs::Transform &m);

/// Converts a Twist message into an Eigen matrix
void twistMsgToEigen(const geometry_msgs::Twist &m, Eigen::Matrix<double,6,1> &e);

/// Converts an Eigen matrix into a Twist message
void twistEigenToMsg(const Eigen::Matrix<double,6,1> &e, geometry_msgs::Twist &m);

/// Converts a Vector message into an Eigen Vector
void vectorMsgToEigen(const geometry_msgs::Vector3 &m, Eigen::Vector3d &e);

/// Converts an Eigen Vector into a Vector message
void vectorEigenToMsg(const Eigen::Vector3d &e, geometry_msgs::Vector3 &m);

/// Converts a Wrench message into an Eigen matrix
void wrenchMsgToEigen(const geometry_msgs::Wrench &m, Eigen::Matrix<double,6,1> &e);

/// Converts an Eigen matrix into a Wrench message
void wrenchEigenToMsg(const Eigen::Matrix<double,6,1> &e, geometry_msgs::Wrench &m);

/// Converts an Eigen matrix into a Float64MultiArray message
template <class Derived>
void matrixEigenToMsg(const Eigen::MatrixBase<Derived> &e, std_msgs::Float64MultiArray &m)
{
  if (m.layout.dim.size() != 2)
    m.layout.dim.resize(2);
  m.layout.dim[0].stride = e.rows() * e.cols();
  m.layout.dim[0].size = e.rows();
  m.layout.dim[1].stride = e.cols();
  m.layout.dim[1].size = e.cols();
  if ((int)m.data.size() != e.size())
    m.data.resize(e.size());
  int ii = 0;
  for (int i = 0; i < e.rows(); ++i)
    for (int j = 0; j < e.cols(); ++j)
      m.data[ii++] = e.coeff(i, j);
}

} // namespace

使用的時候

#include <eigen_conversions/eigen_msg.h>

//getmetry_msgs::Quaternion to Eigen::Quaternino
tf::quaternionMsgToEigen(current_pose_.pose.orientation, current_orientation);