From 4a49c1a354466a7a79dad7c3e11e249f42c85d7a Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Tue, 24 May 2022 10:51:09 +0200
Subject: [PATCH] + aron eigen conversion
---
.../libraries/aron/common/aron_conversions/eigen.cpp | 11 +++++++++++
.../libraries/aron/common/aron_conversions/eigen.h | 3 +++
2 files changed, 14 insertions(+)
diff --git a/source/RobotAPI/libraries/aron/common/aron_conversions/eigen.cpp b/source/RobotAPI/libraries/aron/common/aron_conversions/eigen.cpp
index deed74c9a..8b738d098 100644
--- a/source/RobotAPI/libraries/aron/common/aron_conversions/eigen.cpp
+++ b/source/RobotAPI/libraries/aron/common/aron_conversions/eigen.cpp
@@ -24,4 +24,15 @@ namespace armarx::aron
dto = bo.matrix();
}
+ void fromAron(const AronPose& dto, Eigen::Isometry3d& bo)
+ {
+ bo.matrix() = dto.cast<double>();
+ }
+
+ void toAron(AronPose& dto, const Eigen::Isometry3d& bo)
+ {
+ dto = bo.matrix().cast<float>();
+ }
+
+
} // namespace armarx::aron
diff --git a/source/RobotAPI/libraries/aron/common/aron_conversions/eigen.h b/source/RobotAPI/libraries/aron/common/aron_conversions/eigen.h
index 3520b2ded..3ace8f400 100644
--- a/source/RobotAPI/libraries/aron/common/aron_conversions/eigen.h
+++ b/source/RobotAPI/libraries/aron/common/aron_conversions/eigen.h
@@ -12,4 +12,7 @@ namespace armarx::aron
void fromAron(const AronPose& dto, Eigen::Isometry3f& bo);
void toAron(AronPose& dto, const Eigen::Isometry3f& bo);
+ void fromAron(const AronPose& dto, Eigen::Isometry3d& bo);
+ void toAron(AronPose& dto, const Eigen::Isometry3d& bo);
+
} // namespace armarx
--
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