conversions for Eigen::Isometry3d #335
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rhaschke
commented
Oct 17, 2018
| @@ -72,7 +72,7 @@ geometry_msgs::TransformStamped eigenToTransform(const Eigen::Affine3d& T) | |||
| t.transform.translation.y = T.translation().y(); | |||
| t.transform.translation.z = T.translation().z(); | |||
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| Eigen::Quaterniond q(T.rotation()); | |||
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Affine3d::rotation() performs a costly SVD.
| msg.orientation.y = Eigen::Quaterniond(in.rotation()).y(); | ||
| msg.orientation.z = Eigen::Quaterniond(in.rotation()).z(); | ||
| msg.orientation.w = Eigen::Quaterniond(in.rotation()).w(); | ||
| Eigen::Quaterniond q(in.linear()); |
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compute the quaternion only once!
| @@ -314,6 +314,12 @@ geometry_msgs::Pose toMsg(const Eigen::Affine3d& in) { | |||
| msg.orientation.y = q.y(); | |||
| msg.orientation.z = q.z(); | |||
| msg.orientation.w = q.w(); | |||
| if (msg.orientation.w < 0) { | |||
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Constrain quaternions to the half-space w >= 0 as in tf1.
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tfoote
approved these changes
Oct 19, 2018
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@tfoote Do you plan a new release of geometry2 any time soon? |
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Yes, I've just cleared the backlog of PRs and plan to release after the next indigo/kinetic sync |
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This change needs to be ported to the ros2 version of geometry2 for moveit's conversion: https://github.com/ros2/geometry2 |
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Ideally the whole geometry2 would be synced to the ros2 version |
seanyen
pushed a commit
to ms-iot/geometry2
that referenced
this pull request
Mar 22, 2021
As of C++11, the size() method of a std::list is guaranteed to have constant cost, so we don't need to track the message count ourselves. Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
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In the vein of ros/geometry#113, I added converters for
Eigen::Isometry3dalso totf2_eigen.Eigen::Affine3dcannot exploit the SE(3) structure of transforms and thus needs toHence,
Affine3dshould be actually avoided.