ori_tool.h File Reference

#include <geometry_msgs/Quaternion.h>
#include <tf2/LinearMath/Quaternion.h>
#include <eigen3/Eigen/Core>

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Functions
void	quatToRPY (const geometry_msgs::Quaternion &q, double &roll, double &pitch, double &yaw)
double	yawFromQuat (const geometry_msgs::Quaternion &q)
tf2::Quaternion	getAverageQuaternion (const std::vector< tf2::Quaternion > &quaternions, const std::vector< double > &weights)
tf2::Quaternion	rotationMatrixToQuaternion (const Eigen::Map< Eigen::Matrix3d > &rot)

Function Documentation

getAverageQuaternion()

tf2::Quaternion getAverageQuaternion	(	const std::vector< tf2::Quaternion > &	quaternions,
		const std::vector< double > &	weights )

quatToRPY()

void quatToRPY	(	const geometry_msgs::Quaternion &	q,
		double &	roll,
		double &	pitch,
		double &	yaw )

Convert a quaternion to RPY. Uses ZYX order (yaw-pitch-roll), but returns angles in (roll, pitch, yaw).

rotationMatrixToQuaternion()

tf2::Quaternion rotationMatrixToQuaternion

(

const Eigen::Map< Eigen::Matrix3d > &

rot

)

yawFromQuat()

double yawFromQuat

(

const geometry_msgs::Quaternion &

q

)