geometry_msgs::TransformStamped与geometry_msgs::PoseStamped消息互转
下面是一个将geometry_msgs::TransformStamped
转换为geometry_msgs::PoseStamped
的示例代码:
geometry_msgs::PoseStamped transformToPose(const geometry_msgs::TransformStamped& transformStamped)
{
geometry_msgs::PoseStamped poseStamped;
poseStamped.header = transformStamped.header;
// Convert the translation and rotation from the transform to the pose
poseStamped.pose.position.x = transformStamped.transform.translation.x;
poseStamped.pose.position.y = transformStamped.transform.translation.y;
poseStamped.pose.position.z = transformStamped.transform.translation.z;
poseStamped.pose.orientation.x = transformStamped.transform.rotation.x;
poseStamped.pose.orientation.y = transformStamped.transform.rotation.y;
poseStamped.pose.orientation.z = transformStamped.transform.rotation.z;
poseStamped.pose.orientation.w = transformStamped.transform.rotation.w;
return poseStamped;
}
同样地,我们可以编写一个将geometry_msgs::PoseStamped
转换为geometry_msgs::TransformStamped
的示例代码:
geometry_msgs::TransformStamped poseToTransform(const geometry_msgs::PoseStamped& poseStamped)
{
geometry_msgs::TransformStamped transformStamped;
transformStamped.header = poseStamped.header;
// Convert the pose's translation and rotation to the transform
transformStamped.transform.translation.x = poseStamped.pose.position.x;
transformStamped.transform.translation.y = poseStamped.pose.position.y;
transformStamped.transform.translation.z = poseStamped.pose.position.z;
transformStamped.transform.rotation.x = poseStamped.pose.orientation.x;
transformStamped.transform.rotation.y = poseStamped.pose.orientation.y;
transformStamped.transform.rotation.z = poseStamped.pose.orientation.z;
transformStamped.transform.rotation.w = poseStamped.pose.orientation.w;
return transformStamped;
}
在这两个示例中,我们使用了tf2库中的tf2_geometry_msgs头文件中的函数来完成转换。这些函数使用了tf2库中的transformations功能,其中包括了从四元数和欧拉角之间的相互转换、从变换矩阵到四元数之间的相互转换等。
geometry_msgs::PointStamped与geometry_msgs::PoseStamped互转
geometry_msgs::PoseStamped pointStampedToPose(const geometry_msgs::PointStamped& PointStamped)
{
geometry_msgs::PoseStamped poseStamped;
poseStamped.header = PointStamped.header;
poseStamped.pose.position.x = PointStamped.point.x;
poseStamped.pose.position.y = PointStamped.point.y;
poseStamped.pose.position.z = PointStamped.point.z;
poseStamped.pose.orientation.x = 0;
poseStamped.pose.orientation.y = 0;
poseStamped.pose.orientation.z = 0;
poseStamped.pose.orientation.w = 1;
return poseStamped;
}
本文内容由网友自发贡献,版权归原作者所有,本站不承担相应法律责任。如您发现有涉嫌抄袭侵权的内容,请联系:hwhale#tublm.com(使用前将#替换为@)