eigen.h
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1 /**
2  * This file is part of ArmarX.
3  *
4  * ArmarX is free software; you can redistribute it and/or modify
5  * it under the terms of the GNU General Public License version 2 as
6  * published by the Free Software Foundation.
7  *
8  * ArmarX is distributed in the hope that it will be useful, but
9  * WITHOUT ANY WARRANTY; without even the implied warranty of
10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
11  * GNU General Public License for more details.
12  *
13  * You should have received a copy of the GNU General Public License
14  * along with this program. If not, see <http://www.gnu.org/licenses/>.
15  *
16  * @author Fabian Reister ( fabian dot reister at kit dot edu )
17  * @author Christian R. G. Dreher ( c dot dreher at kit dot edu )
18  * @date 2021
19  * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
20  * GNU General Public License
21  */
22 
23 #pragma once
24 
25 #include <vector>
26 
29 
31 {
32 
33  inline Eigen::Vector2f
34  to2D(const Eigen::Vector3f& v2)
35  {
36  return Eigen::Vector2f{v2.x(), v2.y()};
37  }
38 
39  core::Pose2D to2D(const core::Pose& p3);
40 
41  inline Eigen::Vector3f
42  to3D(const Eigen::Vector2f& v2)
43  {
44  return Eigen::Vector3f{v2.x(), v2.y(), 0.F};
45  }
46 
47  inline core::Pose
48  to3D(const core::Pose2D& p2)
49  {
51  pose.linear().block<2, 2>(0, 0) = p2.linear();
52  pose.translation() = to3D(p2.translation());
53 
54  return pose;
55  }
56 
57  std::vector<Eigen::Vector3f> to3D(const std::vector<Eigen::Vector2f>& v);
58  std::vector<Eigen::Vector2f> to2D(const std::vector<Eigen::Vector3f>& v);
59 
60 } // namespace armarx::navigation::conv
armarx::navigation::core::Pose
Eigen::Isometry3f Pose
Definition: basic_types.h:31
basic_types.h
armarx::navigation::core::Pose2D
Eigen::Isometry2f Pose2D
Definition: basic_types.h:34
armarx::navigation::conv
This file is part of ArmarX.
Definition: eigen.cpp:7
GfxTL::Identity
void Identity(MatrixXX< N, N, T > *a)
Definition: MatrixXX.h:523
armarx::navigation::conv::to2D
std::vector< Eigen::Vector2f > to2D(const std::vector< Eigen::Vector3f > &v)
Definition: eigen.cpp:26
armarx::ctrlutil::v
double v(double t, double v0, double a0, double j)
Definition: CtrlUtil.h:39
armarx::navigation::conv::to3D
std::vector< Eigen::Vector3f > to3D(const std::vector< Eigen::Vector2f > &v)
Definition: eigen.cpp:11
types.h