Directory: | ./ |
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File: | src/parsers/urdf/utils.cpp |
Date: | 2024-08-27 18:20:05 |
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Lines: | 4 | 4 | 100.0% |
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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 |