Package edu.tufts.hrilab.moveit.util

Class Convert

java.lang.Object
edu.tufts.hrilab.moveit.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))'.

From there, it grew to things like euler to quaternions, points and quaternions to matrices, etc. This implementation is kinda a mess, but I think it makes the end result more readable.

  • Constructor Summary

    Constructors
    Constructor
    Description
    Convert()
     

  • Method Summary

    Modifier and Type
    Method
    Description
    static javax.vecmath.Point3d
    convertToEuler(javax.vecmath.Quat4d q)
     
    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.Matrix4d
    convertToMatrix4d(javax.vecmath.Point3d p, javax.vecmath.Quat4d q)
     
    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.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.Pose
    mulPoses(edu.tufts.hrilab.diarcros.msg.geometry_msgs.Pose a, edu.tufts.hrilab.diarcros.msg.geometry_msgs.Pose b)
     

    Methods inherited from class java.lang.Object

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

  • Constructor Details

    • Convert

      public Convert()

  • Method Details

    • convertToEuler

      public static javax.vecmath.Point3d convertToEuler(javax.vecmath.Quat4d q)

    • 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(javax.vecmath.Point3d p, javax.vecmath.Quat4d q)

    • 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(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)