Functions
void	poseMsgToEigen (const geometry_msgs::msg::Pose &msg, Eigen::Isometry3d &out)

bool	readPoseFromText (std::istream &in, Eigen::Isometry3d &pose)
	Read a pose from text.

void	writePoseToText (std::ostream &out, const Eigen::Isometry3d &pose)
	Write a pose to text.

Function Documentation

◆ poseMsgToEigen()

void planning_scene::utilities::poseMsgToEigen	(	const geometry_msgs::msg::Pose &	msg,
		Eigen::Isometry3d &	out
	)

convert Pose msg to Eigen::Isometry, normalizing the quaternion part if necessary.

Parameters

msg	Input message
out	Output Eigen transform

Definition at line 76 of file planning_scene.cpp.

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bool planning_scene::utilities::readPoseFromText	(	std::istream &	in,
		Eigen::Isometry3d &	pose
	)

Read a pose from text.

Definition at line 85 of file planning_scene.cpp.

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void planning_scene::utilities::writePoseToText	(	std::ostream &	out,
		const Eigen::Isometry3d &	pose
	)

Write a pose to text.

Definition at line 103 of file planning_scene.cpp.

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