pinocchio
2.6.20
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
utils.cpp
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#include "pinocchio/parsers/urdf/utils.hpp"
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namespace
pinocchio
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{
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namespace
urdf
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{
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namespace
details
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{
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SE3
convertFromUrdf
(const ::urdf::Pose & M)
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{
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const ::urdf::Vector3 & p = M.position;
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const ::urdf::Rotation & q = M.rotation;
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return
SE3
(SE3::Quaternion(q.w,q.x,q.y,q.z).matrix(),
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SE3::Vector3(p.x,p.y,p.z));
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}
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}
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}
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}
pinocchio::SE3Tpl< double, 0 >
pinocchio::urdf::details::convertFromUrdf
static Inertia convertFromUrdf(const ::urdf::Inertial &Y)
Convert URDF Inertial quantity to Spatial Inertia.
Definition:
model.cpp:30
pinocchio
Main pinocchio namespace.
Definition:
treeview.dox:11
src
parsers
urdf
utils.cpp
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