18 #ifndef _GAZEBO_DARTTYPES_HH_
19 #define _GAZEBO_DARTTYPES_HH_
21 #include <boost/shared_ptr.hpp>
62 return Eigen::Vector3d(_vec3.
x, _vec3.
y, _vec3.
z);
74 return Eigen::Quaterniond(_quat.
w, _quat.
x, _quat.
y, _quat.
z);
90 Eigen::Isometry3d res;
92 res.translation() = ConvVec3(_pose.
pos);
93 res.linear() = Eigen::Matrix3d(ConvQuat(_pose.
rot));
102 pose.
pos = ConvVec3(_T.translation());
103 pose.
rot = ConvQuat(Eigen::Quaterniond(_T.linear()));
116 "Zero thread pitch is not allowed.\n");
118 return -2.0 * M_PI / _pitch;
static math::Vector3 ConvVec3(const Eigen::Vector3d &_vec3)
Definition: DARTTypes.hh:66
double z
z value of the quaternion
Definition: Quaternion.hh:386
#define GZ_PHYSICS_VISIBLE
Definition: system.hh:259
#define GZ_ASSERT(_expr, _msg)
This macro define the standard way of launching an exception inside gazebo.
Definition: Assert.hh:24
Encapsulates a position and rotation in three space.
Definition: Pose.hh:37
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:39
boost::shared_ptr< DARTPhysics > DARTPhysicsPtr
Definition: DARTTypes.hh:41
DART surface parameters.
Definition: DARTSurfaceParams.hh:39
double x
X location.
Definition: Vector3.hh:311
static Eigen::Quaterniond ConvQuat(const math::Quaternion &_quat)
Definition: DARTTypes.hh:72
static math::Pose ConvPose(const Eigen::Isometry3d &_T)
Definition: DARTTypes.hh:99
double z
Z location.
Definition: Vector3.hh:317
static math::Quaternion ConvQuat(const Eigen::Quaterniond &_quat)
Definition: DARTTypes.hh:78
double w
w value of the quaternion
Definition: Quaternion.hh:377
boost::shared_ptr< DARTModel > DARTModelPtr
Definition: DARTTypes.hh:44
boost::shared_ptr< DARTLink > DARTLinkPtr
Definition: DARTTypes.hh:45
Vector3 pos
The position.
Definition: Pose.hh:252
A quaternion class.
Definition: Quaternion.hh:42
Quaternion rot
The rotation.
Definition: Pose.hh:255
double y
y value of the quaternion
Definition: Quaternion.hh:383
static Eigen::Isometry3d ConvPose(const math::Pose &_pose)
Definition: DARTTypes.hh:84
double x
x value of the quaternion
Definition: Quaternion.hh:380
static Eigen::Vector3d ConvVec3(const math::Vector3 &_vec3)
Definition: DARTTypes.hh:60
boost::shared_ptr< DARTCollision > DARTCollisionPtr
Definition: DARTTypes.hh:47
boost::shared_ptr< DARTJoint > DARTJointPtr
Definition: DARTTypes.hh:46
boost::shared_ptr< DARTSurfaceParams > DARTSurfaceParamsPtr
Definition: DARTTypes.hh:49
A set of functions for converting between the math types used by gazebo and dart. ...
Definition: DARTTypes.hh:57
static double InvertThreadPitch(double _pitch)
Invert thread pitch to match the different definitions of thread pitch in Gazebo and DART...
Definition: DARTTypes.hh:113
double y
Y location.
Definition: Vector3.hh:314
boost::shared_ptr< DARTRayShape > DARTRayShapePtr
Definition: DARTTypes.hh:48