Helper functions for transform manipulation. More...

Typedefs
template<typename V >
using	EigenVector = std::vector< V, Eigen::aligned_allocator< V > >
	A template for a vector that stores Eigen objects. More...

template<typename K , typename V >
using	EigenMap = std::map< K, V, std::less< K >, Eigen::aligned_allocator< std::pair< const K, V > >>
	A template for a map that stores Eigen objects. More...

template<typename K , typename V >
using	EigenHash = std::unordered_map< K, V, std::hash< K >, std::equal_to< K >, Eigen::aligned_allocator< std::pair< const K, V > >>
	A template for an unordered map that stores Eigen objects. More...

Functions
Eigen Isometry2d operations
Eigen::Isometry2d	toIsometry (double x, double y, double theta)
	Converts a translation (x, y) and rotation from X-axis (theta) into a transform. More...

double	getRotation (const Eigen::Isometry2d &frame)
	Gets rotation from a frame from the X-axis (t) More...

Eigen::Isometry2d	toIsometry (const Eigen::Vector3d &vec)
	Converts a vector [x, y, t] composed of a translation (x, y) and rotation from X-axis (t) into a transform. More...

double	transformDistance (const Eigen::Isometry2d &t1, const Eigen::Isometry2d &t2=Eigen::Isometry2d::Identity(), double alpha=0.75)
	Return the transform distance between two transformations, w is the weight of the euclidean distance, and (1-w) the weight of the rotational distance (wrapping from -pi to pi). More...

Eigen::Vector3d	flattenIsometry (const Eigen::Isometry2d &frame)
	Converts a transformation frame into a vector [x, y, t] composed of a translation (x, y) and rotation from X-axis(t). More...

KDL and Eigen Conversions
KDL::Frame	EigenToKDLFrame (const Eigen::Isometry2d &iso)
	Converts an Eigen transformation into a KDL transformation. More...

Eigen::Isometry2d	KDLToEigenFrame (const KDL::Frame &frame)
	Converts an KDL transformation into a Eigen transformation. More...

KDL::JntArray	EigenToKDLVec (const Eigen::VectorXd &vec)
	Converts an Eigen vector into a KDL vector. More...

Eigen::VectorXd	KDLToEigenVec (const KDL::JntArray &array)
	Converts an KDL vector into a Eigen vector. More...

Debug & Output
std::string	printFrame (const Eigen::Isometry2d &frame)
	Returns a string "[x, y, t]" of the translation (x, y) and rotation (t) component of a transform. More...

std::string	printFrame (const KDL::Frame &frame)
	Returns a string "[x, y, t]" of the translation (x, y) and rotation (t) component of a transform. More...

std::string	printVector (const Eigen::VectorXd &v, unsigned int precision=4)
	Returns a string of a vector's contents. More...

std::string	printMatrix (const Eigen::MatrixXd &v, unsigned int precision=4)
	Returns a string of a matrix's contents. More...

Detailed Description

Helper functions for transform manipulation.

Typedef Documentation

◆ EigenHash

template<typename K , typename V >

using se2ez::tf::EigenHash = typedef std::unordered_map<K, V, std::hash<K>, std::equal_to<K>, Eigen::aligned_allocator<std::pair<const K, V> >>

A template for an unordered map that stores Eigen objects.

Template Parameters

K	Key for the map (not an Eigen type).
V	Value for the map (contains an Eigen type).

Definition at line 149 of file math.h.

◆ EigenMap

template<typename K , typename V >

using se2ez::tf::EigenMap = typedef std::map<K, V, std::less<K>, Eigen::aligned_allocator<std::pair<const K, V> >>

A template for a map that stores Eigen objects.

Template Parameters

K	Key for the map (not an Eigen type).
V	Value for the map (contains an Eigen type).

Definition at line 140 of file math.h.

◆ EigenVector

template<typename V >

using se2ez::tf::EigenVector = typedef std::vector<V, Eigen::aligned_allocator<V> >

A template for a vector that stores Eigen objects.

Template Parameters

V	Value for the vector (contains an Eigen type).

Definition at line 131 of file math.h.

Function Documentation

◆ EigenToKDLFrame()

KDL::Frame se2ez::tf::EigenToKDLFrame ( const Eigen::Isometry2d & iso )

Converts an Eigen transformation into a KDL transformation.

Parameters

[in] iso Eigen transform.

Returns: KDL transform.

Definition at line 48 of file math.cpp.

◆ EigenToKDLVec()

KDL::JntArray se2ez::tf::EigenToKDLVec ( const Eigen::VectorXd & vec )

Converts an Eigen vector into a KDL vector.

Parameters

[in] vec Eigen vector.

Returns: KDL vector.

Definition at line 66 of file math.cpp.

◆ flattenIsometry()

Eigen::Vector3d se2ez::tf::flattenIsometry ( const Eigen::Isometry2d & frame )

Converts a transformation frame into a vector [x, y, t] composed of a translation (x, y) and rotation from X-axis(t).

Parameters

[in] frame Transform to flatten.

Returns: Vector representation of transform.

Definition at line 30 of file math.cpp.

◆ getRotation()

double se2ez::tf::getRotation ( const Eigen::Isometry2d & frame )

Gets rotation from a frame from the X-axis (t)

Parameters

[in] frame Frame to get rotation from.

Returns: Angle of transformation.

Definition at line 25 of file math.cpp.

◆ KDLToEigenFrame()

Eigen::Isometry2d se2ez::tf::KDLToEigenFrame ( const KDL::Frame & frame )

Converts an KDL transformation into a Eigen transformation.

Parameters

[in] frame KDL transform.

Returns: Eigen transform.

Definition at line 55 of file math.cpp.

◆ KDLToEigenVec()

Eigen::VectorXd se2ez::tf::KDLToEigenVec ( const KDL::JntArray & array )

Converts an KDL vector into a Eigen vector.

Parameters

[in] array KDL vector.

Returns: Eigen vector.

Definition at line 74 of file math.cpp.

◆ printFrame() [1/2]

std::string se2ez::tf::printFrame ( const Eigen::Isometry2d & frame )

Returns a string "[x, y, t]" of the translation (x, y) and rotation (t) component of a transform.

Parameters

[in] frame Frame to print.

Returns: Printable string of transform data.

Definition at line 79 of file math.cpp.

◆ printFrame() [2/2]

std::string se2ez::tf::printFrame ( const KDL::Frame & frame )

Returns a string "[x, y, t]" of the translation (x, y) and rotation (t) component of a transform.

Parameters

[in] frame Frame to print.

Returns: Printable string of transform data.

Definition at line 85 of file math.cpp.

◆ printMatrix()

std::string se2ez::tf::printMatrix	(	const Eigen::MatrixXd &	v,
		unsigned int	precision = `4`
	)

Returns a string of a matrix's contents.

Parameters

[in]	v	Matrix to print.
[in]	precision	Precision to print floating point values at.

Returns: Printable string of vector.

Definition at line 109 of file math.cpp.

◆ printVector()

std::string se2ez::tf::printVector	(	const Eigen::VectorXd &	v,
		unsigned int	precision = `4`
	)

Returns a string of a vector's contents.

Parameters

[in]	v	Vector to print.
[in]	precision	Precision to print floating point values at.

Returns: Printable string of vector.

Definition at line 90 of file math.cpp.

◆ toIsometry() [1/2]

Eigen::Isometry2d se2ez::tf::toIsometry	(	double	x,
		double	y,
		double	theta
	)

Converts a translation (x, y) and rotation from X-axis (theta) into a transform.

Parameters

[in]	x	X coordinate of translation.
[in]	y	Y coordinate of translation.
[in]	theta	Rotation from the X-axis.

Returns: Transform corresponding to input.

Definition at line 11 of file math.cpp.

◆ toIsometry() [2/2]

Eigen::Isometry2d se2ez::tf::toIsometry ( const Eigen::Vector3d & vec )

Converts a vector [x, y, t] composed of a translation (x, y) and rotation from X-axis (t) into a transform.

Parameters

[in] vec Vector representation of transform.

Returns: Transform corresponding to input.

Definition at line 20 of file math.cpp.

◆ transformDistance()

double se2ez::tf::transformDistance	(	const Eigen::Isometry2d &	t1,
		const Eigen::Isometry2d &	t2 = `Eigen::Isometry2d::Identity()`,
		double	alpha = `0.75`
	)

Return the transform distance between two transformations, w is the weight of the euclidean distance, and (1-w) the weight of the rotational distance (wrapping from -pi to pi).

Parameters

[in]	t1	First transform.
[in]	t2	Second transform.
[in]	alpha	Weight of the euclidean distance (must be between 0 and 1).

Returns: The weighted distance between the transforms.

Definition at line 36 of file math.cpp.

Typedefs

Functions

Detailed Description

Typedef Documentation

◆ EigenHash

◆ EigenMap

◆ EigenVector

Function Documentation

◆ EigenToKDLFrame()

◆ EigenToKDLVec()

◆ flattenIsometry()

◆ getRotation()

◆ KDLToEigenFrame()

◆ KDLToEigenVec()

◆ printFrame() [1/2]

◆ printFrame() [2/2]

◆ printMatrix()

◆ printVector()

◆ toIsometry() [1/2]

◆ toIsometry() [2/2]

◆ transformDistance()