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urdfeigen.h File Reference
#include <almath/scenegraph/urdf.h>
#include <Eigen/Geometry>

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Namespaces

 AL
 
 AL::Math
 

Functions

Eigen::Quaterniond AL::Math::eigenQuaternionFromUrdfRpy (const AL::urdf::Array3d &rpy)
 
template<typename T >
AL::urdf::Array3d AL::Math::urdfRpyFromEigenMatrix3 (const T &t)
 
Eigen::Isometry3d AL::Math::toEigenTransform (const AL::urdf::Pose &p)
 
Eigen::Matrix3d AL::Math::toEigenMatrix3 (const AL::urdf::Inertial &inertial)
 
template<typename Scalar , typename Derived0 , typename Derived1 >
void AL::Math::addPointMassInertia (Scalar mass, const Eigen::MatrixBase< Derived0 > &position, Eigen::MatrixBase< Derived1 > &output)
 
template<typename Scalar , typename EPose , typename Derived1 >
void AL::Math::squashInertial (Scalar mass_a, const EPose &pose_a, const Eigen::MatrixBase< Derived1 > &inertia_a, Scalar mass_b, const EPose &pose_b, const Eigen::MatrixBase< Derived1 > &inertia_b, Scalar &mass_c, EPose &pose_c, Eigen::MatrixBase< Derived1 > &inertia_c)
 
template<typename Scalar , typename Derived0 , typename Derived1 >
void AL::Math::urdfInertialToEigen (const AL::urdf::Inertial &inertial, Scalar &mass, Eigen::MatrixBase< Derived0 > &com_a, Eigen::MatrixBase< Derived1 > &inertia_a)