| Directory: | ./ |
|---|---|
| File: | src/parsers/urdf/utils.cpp |
| Date: | 2024-08-27 18:20:05 |
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| Lines: | 4 | 4 | 100.0% |
| Branches: | 3 | 6 | 50.0% |
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| 1 | #include "pinocchio/parsers/urdf/utils.hpp" | ||
| 2 | |||
| 3 | namespace pinocchio | ||
| 4 | { | ||
| 5 | namespace urdf | ||
| 6 | { | ||
| 7 | namespace details | ||
| 8 | { | ||
| 9 | |||
| 10 | 2988 | SE3 convertFromUrdf(const ::urdf::Pose & M) | |
| 11 | { | ||
| 12 | 2988 | const ::urdf::Vector3 & p = M.position; | |
| 13 | 2988 | const ::urdf::Rotation & q = M.rotation; | |
| 14 |
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5976 | return SE3(SE3::Quaternion(q.w, q.x, q.y, q.z).matrix(), SE3::Vector3(p.x, p.y, p.z)); |
| 15 | } | ||
| 16 | } // namespace details | ||
| 17 | } // namespace urdf | ||
| 18 | } // namespace pinocchio | ||
| 19 |