sva::conversions Namespace Reference

Generic functions to convert to/from sva types. More...

Typedefs
template<typename T >
using	affine3_t = Eigen::Transform< T, 3, Eigen::TransformTraits::Affine >
	Define an Eigen::Affine3<T> More...

Functions
template<typename Derived >
PTransform< typename Derived::Scalar >	fromHomogeneous (const Eigen::MatrixBase< Derived > &m, bool rightHandedness=RightHanded)
	Convert an homogeneous matrix into a Plucker Transform. More...
template<typename T >
Eigen::Matrix< T, 4, 4 >	toHomogeneous (const PTransform< T > &pt, bool rightHandedness=RightHanded)
	Convert a Plucker Transform into an homogeneous matrix. More...
template<typename T >
PTransform< T >	fromAffine (const affine3_t< T > &a, bool rightHandedness=RightHanded)
	Convert an Eigen::Affine3<T> into a Plucker Transform. More...
template<typename T >
affine3_t< T >	toAffine (const PTransform< T > &pt, bool rightHandedness=RightHanded)
	Convert a Plucker Transform into an Eigen::Affine3<T> More...

Variables
constexpr bool	RightHanded = true
	Alias for right handedness (default) More...
constexpr bool	LeftHanded = false
	Alias for left handedness. More...

Detailed Description

Generic functions to convert to/from sva types.

Each function in the conversions namespace allows to convert to and from another type. An important point to note is that sva internally uses a left-handed convention. Hence, all functions will assume that the non-sva objects use a right-handed convention and convert accordingly. This is overridable by the "rightHandedness" argument.

Typedef Documentation

affine3_t

template<typename T >

using sva::conversions::affine3_t = typedef Eigen::Transform<T, 3, Eigen::TransformTraits::Affine>

Define an Eigen::Affine3<T>

Function Documentation

fromAffine()

template<typename T >

PTransform<T> sva::conversions::fromAffine	(	const affine3_t< T > &	a,
		bool	rightHandedness = RightHanded
	)

Convert an Eigen::Affine3<T> into a Plucker Transform.

Returns

A Plucker Transform of the same type as the input Transform

Parameters

a	Input Eigen Transform. Only rotation and translation components are considered.
RightHandedness	Handedness of the input Eigen Transform. Defaults to right handedness.

fromHomogeneous()

template<typename Derived >

PTransform<typename Derived::Scalar> sva::conversions::fromHomogeneous	(	const Eigen::MatrixBase< Derived > &	m,
		bool	rightHandedness = RightHanded
	)

Convert an homogeneous matrix into a Plucker Transform.

Returns

Plucker Transform equivalent to the input homogeneous matrix

Parameters

m	A 4x4 Eigen Matrix
RightHandedness	Handedness of the input homogeneous matrix. Defaults to right handedness.

toAffine()

template<typename T >

affine3_t<T> sva::conversions::toAffine	(	const PTransform< T > &	pt,
		bool	rightHandedness = RightHanded
	)

Convert a Plucker Transform into an Eigen::Affine3<T>

Returns

An Eigen::Transform of dimension 3, and same scalar type as the input PTransform.

Parameters

pt	Input Plucker Transform.
RightHandedness	Handedness of the output Eigen Transform. Defaults to right handedness.

toHomogeneous()

template<typename T >

Eigen::Matrix<T, 4, 4> sva::conversions::toHomogeneous	(	const PTransform< T > &	pt,
		bool	rightHandedness = RightHanded
	)

Convert a Plucker Transform into an homogeneous matrix.

Returns

An Eigen 4x4 homogeneous matrix equivalent to the input Plucker Transform

Parameters

pt	Plucker Transform
RightHandedness	Handedness of the output homogeneous matrix. Defaults to right handedness.

Variable Documentation

LeftHanded

constexpr bool sva::conversions::LeftHanded = false

constexpr

Alias for left handedness.

RightHanded

constexpr bool sva::conversions::RightHanded = true

constexpr

Alias for right handedness (default)