Package edu.tufts.hrilab.diarcros.util

Class Convert

java.lang.Object
edu.tufts.hrilab.diarcros.util.Convert
public class Convert extends Object
This is a helper class to convert standard java to/from rosjava representations of points, etc. I found I was often writing 'someRosJavaFunction(new Point(point3d.x, point3d.y, point3d.z)', now it's just 'someRosJavaFunction(convert(point3d))'. Also some functionality for converting to/from quaternions/euler, etc.

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    static final int
    PITCH
     
    static final int
    ROLL
     
    static final int
    YAW
     

  • Constructor Summary

    Constructors
    Constructor
    Description
    Convert()
     

  • Method Summary

    Modifier and Type
    Method
    Description
    static javax.vecmath.Matrix4d
    convertToMatrix4d(edu.tufts.hrilab.diarcros.msg.geometry_msgs.Pose p)
     
    static javax.vecmath.Matrix4d
    convertToMatrix4d(edu.tufts.hrilab.diarcros.msg.geometry_msgs.TransformStamped t)
     
    static javax.vecmath.Point3d
    convertToPoint3d(edu.tufts.hrilab.diarcros.msg.geometry_msgs.Point p)
     
    static edu.tufts.hrilab.diarcros.msg.geometry_msgs.Point
    convertToPoint3d(javax.vecmath.Point3d p)
     
    static org.apache.commons.lang3.tuple.Pair<javax.vecmath.Point3d,javax.vecmath.Quat4d>
    convertToPose(edu.tufts.hrilab.diarcros.msg.geometry_msgs.Pose pose)
     
    static edu.tufts.hrilab.diarcros.msg.geometry_msgs.Pose
    convertToPose(javax.vecmath.Matrix4d m)
     
    static edu.tufts.hrilab.diarcros.msg.geometry_msgs.Pose
    convertToPose(javax.vecmath.Point3d p, javax.vecmath.Quat4d q)
     
    static javax.vecmath.Quat4d
    convertToQuat4d(edu.tufts.hrilab.diarcros.msg.geometry_msgs.Quaternion q)
     
    static edu.tufts.hrilab.diarcros.msg.geometry_msgs.Quaternion
    convertToQuaternion(javax.vecmath.Quat4d q)
     
    static edu.tufts.hrilab.diarcros.msg.geometry_msgs.TransformStamped
    convertToTransformStamped(edu.tufts.hrilab.diarcros.msg.geometry_msgs.Transform t)
     
    static edu.tufts.hrilab.diarcros.msg.geometry_msgs.TransformStamped
    convertToTransformStamped(edu.tufts.hrilab.diarcros.msg.geometry_msgs.Vector3 v, edu.tufts.hrilab.diarcros.msg.geometry_msgs.Quaternion q)
     
    static edu.tufts.hrilab.diarcros.msg.geometry_msgs.TransformStamped
    convertToTransformStamped(edu.tufts.hrilab.diarcros.msg.geometry_msgs.Vector3 v, javax.vecmath.Quat4d q)
     
    static edu.tufts.hrilab.diarcros.msg.geometry_msgs.TransformStamped
    convertToTransformStamped(javax.vecmath.Matrix4d m)
     
    static edu.tufts.hrilab.diarcros.msg.geometry_msgs.TransformStamped
    convertToTransformStamped(javax.vecmath.Vector3d v, edu.tufts.hrilab.diarcros.msg.geometry_msgs.Quaternion q)
     
    static edu.tufts.hrilab.diarcros.msg.geometry_msgs.TransformStamped
    convertToTransformStamped(javax.vecmath.Vector3d v, javax.vecmath.Quat4d q)
     
    static edu.tufts.hrilab.diarcros.msg.geometry_msgs.Vector3
    convertToVector3(javax.vecmath.Vector3d v)
     
    static javax.vecmath.Vector3d
    convertToVector3d(edu.tufts.hrilab.diarcros.msg.geometry_msgs.Vector3 v)
     
    static edu.tufts.hrilab.diarcros.msg.geometry_msgs.Quaternion
    eulerToQuaternion(double yaw, double pitch, double roll)
     
    static edu.tufts.hrilab.diarcros.msg.geometry_msgs.Pose
    mulPoses(edu.tufts.hrilab.diarcros.msg.geometry_msgs.Pose a, edu.tufts.hrilab.diarcros.msg.geometry_msgs.Pose b)
     
    static double[]
    quaternionToEuler(edu.tufts.hrilab.diarcros.msg.geometry_msgs.Quaternion q)
     

    Methods inherited from class java.lang.Object

    clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

  • Field Details

  • Constructor Details

    • Convert

      public Convert()

  • Method Details

    • convertToPoint3d

      public static edu.tufts.hrilab.diarcros.msg.geometry_msgs.Point convertToPoint3d(javax.vecmath.Point3d p)

    • convertToPoint3d

      public static javax.vecmath.Point3d convertToPoint3d(edu.tufts.hrilab.diarcros.msg.geometry_msgs.Point p)

    • convertToQuat4d

      public static javax.vecmath.Quat4d convertToQuat4d(edu.tufts.hrilab.diarcros.msg.geometry_msgs.Quaternion q)

    • convertToQuaternion

      public static edu.tufts.hrilab.diarcros.msg.geometry_msgs.Quaternion convertToQuaternion(javax.vecmath.Quat4d q)

    • convertToVector3

      public static edu.tufts.hrilab.diarcros.msg.geometry_msgs.Vector3 convertToVector3(javax.vecmath.Vector3d v)

    • convertToVector3d

      public static javax.vecmath.Vector3d convertToVector3d(edu.tufts.hrilab.diarcros.msg.geometry_msgs.Vector3 v)

    • convertToMatrix4d

      public static javax.vecmath.Matrix4d convertToMatrix4d(edu.tufts.hrilab.diarcros.msg.geometry_msgs.TransformStamped t)

    • mulPoses

      public static edu.tufts.hrilab.diarcros.msg.geometry_msgs.Pose mulPoses(edu.tufts.hrilab.diarcros.msg.geometry_msgs.Pose a, edu.tufts.hrilab.diarcros.msg.geometry_msgs.Pose b)

    • convertToMatrix4d

      public static javax.vecmath.Matrix4d convertToMatrix4d(edu.tufts.hrilab.diarcros.msg.geometry_msgs.Pose p)

    • convertToPose

      public static edu.tufts.hrilab.diarcros.msg.geometry_msgs.Pose convertToPose(javax.vecmath.Point3d p, javax.vecmath.Quat4d q)

    • convertToPose

      public static org.apache.commons.lang3.tuple.Pair<javax.vecmath.Point3d,javax.vecmath.Quat4d> convertToPose(edu.tufts.hrilab.diarcros.msg.geometry_msgs.Pose pose)

    • convertToPose

      public static edu.tufts.hrilab.diarcros.msg.geometry_msgs.Pose convertToPose(javax.vecmath.Matrix4d m)

    • convertToTransformStamped

      public static edu.tufts.hrilab.diarcros.msg.geometry_msgs.TransformStamped convertToTransformStamped(javax.vecmath.Matrix4d m)

    • convertToTransformStamped

      public static edu.tufts.hrilab.diarcros.msg.geometry_msgs.TransformStamped convertToTransformStamped(edu.tufts.hrilab.diarcros.msg.geometry_msgs.Transform t)

    • convertToTransformStamped

      public static edu.tufts.hrilab.diarcros.msg.geometry_msgs.TransformStamped convertToTransformStamped(edu.tufts.hrilab.diarcros.msg.geometry_msgs.Vector3 v, edu.tufts.hrilab.diarcros.msg.geometry_msgs.Quaternion q)

    • convertToTransformStamped

      public static edu.tufts.hrilab.diarcros.msg.geometry_msgs.TransformStamped convertToTransformStamped(edu.tufts.hrilab.diarcros.msg.geometry_msgs.Vector3 v, javax.vecmath.Quat4d q)

    • convertToTransformStamped

      public static edu.tufts.hrilab.diarcros.msg.geometry_msgs.TransformStamped convertToTransformStamped(javax.vecmath.Vector3d v, edu.tufts.hrilab.diarcros.msg.geometry_msgs.Quaternion q)

    • convertToTransformStamped

      public static edu.tufts.hrilab.diarcros.msg.geometry_msgs.TransformStamped convertToTransformStamped(javax.vecmath.Vector3d v, javax.vecmath.Quat4d q)

    • quaternionToEuler

      public static double[] quaternionToEuler(edu.tufts.hrilab.diarcros.msg.geometry_msgs.Quaternion q)

    • eulerToQuaternion

      public static edu.tufts.hrilab.diarcros.msg.geometry_msgs.Quaternion eulerToQuaternion(double yaw, double pitch, double roll)