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Add conversions for Accel and Eigen #844

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Add conversions for Accel and Eigen #844

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23 changes: 23 additions & 0 deletions tf2_eigen/include/tf2_eigen/tf2_eigen.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -31,6 +31,7 @@

#include <Eigen/Geometry>

#include "geometry_msgs/msg/accel.hpp"
#include "geometry_msgs/msg/point.hpp"
#include "geometry_msgs/msg/point_stamped.hpp"
#include "geometry_msgs/msg/pose_stamped.hpp"
Expand Down Expand Up @@ -534,6 +535,22 @@ void fromMsg(const geometry_msgs::msg::Twist & msg, Eigen::Matrix<double, 6, 1>
out[5] = msg.angular.z;
}

/** \brief Convert an Accel message transform type to an Eigen 6x1 Matrix.
* This function is a specialization of the toMsg template defined in tf2/convert.h.
* \param msg The Accel message to convert.
* \param out The accel converted to an Eigen 6x1 Matrix.
*/
inline
void fromMsg(const geometry_msgs::msg::Accel & msg, Eigen::Matrix<double, 6, 1> & out)
{
out[0] = msg.linear.x;
out[1] = msg.linear.y;
out[2] = msg.linear.z;
out[3] = msg.angular.x;
out[4] = msg.angular.y;
out[5] = msg.angular.z;
}

/** \brief Apply a geometry_msgs TransformStamped to an Eigen Affine3d transform.
* This function is a specialization of the doTransform template defined in tf2/convert.h,
* although it can not be used in tf2_ros::BufferInterface::transform because this
Expand Down Expand Up @@ -689,6 +706,12 @@ void fromMsg(const geometry_msgs::msg::Twist & msg, Eigen::Matrix<double, 6, 1>
tf2::fromMsg(msg, out);
}

inline
void fromMsg(const geometry_msgs::msg::Accel & msg, Eigen::Matrix<double, 6, 1> & out)
{
tf2::fromMsg(msg, out);
}

} // namespace Eigen

#endif // TF2_EIGEN__TF2_EIGEN_HPP_