18 #ifndef _GAZEBO_DARTTYPES_HH_
19 #define _GAZEBO_DARTTYPES_HH_
21 #include <boost/shared_ptr.hpp>
59 return Eigen::Vector3d(_vec3.
x, _vec3.
y, _vec3.
z);
71 return Eigen::Quaterniond(_quat.
w, _quat.
x, _quat.
y, _quat.
z);
87 Eigen::Isometry3d res;
89 res.translation() = ConvVec3(_pose.
pos);
90 res.linear() = Eigen::Matrix3d(ConvQuat(_pose.
rot));
99 pose.
pos = ConvVec3(_T.translation());
100 pose.
rot = ConvQuat(Eigen::Quaterniond(_T.linear()));
static math::Vector3 ConvVec3(const Eigen::Vector3d &_vec3)
Definition: DARTTypes.hh:63
double z
Attributes of the quaternion.
Definition: Quaternion.hh:364
Encapsulates a position and rotation in three space.
Definition: Pose.hh:40
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:43
boost::shared_ptr< DARTPhysics > DARTPhysicsPtr
Definition: DARTTypes.hh:39
double x
X location.
Definition: Vector3.hh:302
static Eigen::Quaterniond ConvQuat(const math::Quaternion &_quat)
Definition: DARTTypes.hh:69
static math::Pose ConvPose(const Eigen::Isometry3d &_T)
Definition: DARTTypes.hh:96
double z
Z location.
Definition: Vector3.hh:308
static math::Quaternion ConvQuat(const Eigen::Quaterniond &_quat)
Definition: DARTTypes.hh:75
double w
Attributes of the quaternion.
Definition: Quaternion.hh:355
boost::shared_ptr< DARTModel > DARTModelPtr
Definition: DARTTypes.hh:42
boost::shared_ptr< DARTLink > DARTLinkPtr
Definition: DARTTypes.hh:43
Vector3 pos
The position.
Definition: Pose.hh:243
Ray collision.
Definition: DARTRayShape.hh:37
A quaternion class.
Definition: Quaternion.hh:41
Quaternion rot
The rotation.
Definition: Pose.hh:246
double y
Attributes of the quaternion.
Definition: Quaternion.hh:361
static Eigen::Isometry3d ConvPose(const math::Pose &_pose)
Definition: DARTTypes.hh:81
double x
Attributes of the quaternion.
Definition: Quaternion.hh:358
static Eigen::Vector3d ConvVec3(const math::Vector3 &_vec3)
Definition: DARTTypes.hh:57
boost::shared_ptr< DARTCollision > DARTCollisionPtr
Definition: DARTTypes.hh:45
boost::shared_ptr< DARTJoint > DARTJointPtr
Definition: DARTTypes.hh:44
A set of functions for converting between the math types used by gazebo and dart. ...
Definition: DARTTypes.hh:54
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:48
double y
Y location.
Definition: Vector3.hh:305
boost::shared_ptr< DARTRayShape > DARTRayShapePtr
Definition: DARTTypes.hh:46