urdfeigen.h File Reference

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

Go to the source code of this file.

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)