conversions.hpp File Reference

#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/joint_state.hpp>
#include <geometry_msgs/msg/twist_stamped.hpp>
#include <trajectory_msgs/msg/joint_trajectory.hpp>
#include <std_msgs/msg/float64_multi_array.hpp>
#include <wbc_msgs/msg/rigid_body_state.hpp>
#include <wbc_msgs/msg/task_config.hpp>
#include <wbc_msgs/msg/task_status.hpp>
#include <wbc_msgs/msg/radial_potential_field_vector.hpp>
#include <geometry_msgs/msg/wrench_stamped.hpp>
#include <base/samples/RigidBodyStateSE3.hpp>
#include <base/commands/Joints.hpp>
#include <base/samples/Wrench.hpp>
#include <base/JointLimits.hpp>
#include <wbc/core/TaskConfig.hpp>
#include <wbc/core/TaskStatus.hpp>
#include <wbc/core/RobotModelConfig.hpp>
#include <wbc/core/QuadraticProgram.hpp>

Go to the source code of this file.

Functions
void	fromROS (const sensor_msgs::msg::JointState &in, base::samples::Joints &out)
void	fromROS (const geometry_msgs::msg::Pose &in, base::Pose &out)
void	fromROS (const geometry_msgs::msg::Twist &in, base::Twist &out)
void	fromROS (const geometry_msgs::msg::Accel &in, base::Acceleration &out)
void	fromROS (const wbc_msgs::msg::RigidBodyState &in, base::samples::RigidBodyStateSE3 &out)
void	fromROS (const trajectory_msgs::msg::JointTrajectory &in, base::samples::Joints &out)
void	fromROS (const std_msgs::msg::Float64MultiArray &in, base::VectorXd &out)
void	fromROS (const std_msgs::msg::Float64MultiArray &in, const std::vector< std::string > &joint_names, wbc::JointWeights &out)
void	fromROS (const geometry_msgs::msg::WrenchStamped &in, base::samples::Wrench &out)
void	toROS (const base::commands::Joints &in, trajectory_msgs::msg::JointTrajectory &out)
void	toROS (const base::VectorXd &in, std_msgs::msg::Float64MultiArray &out)
void	toROS (const base::Pose &in, geometry_msgs::msg::Pose &out)
void	toROS (const base::Twist &in, geometry_msgs::msg::Twist &out)
void	toROS (const base::Acceleration &in, geometry_msgs::msg::Accel &out)
void	toROS (const base::samples::RigidBodyStateSE3 &in, wbc_msgs::msg::RigidBodyState &out)
void	toROS (const base::samples::Joints &in, sensor_msgs::msg::JointState &out)
void	toROS (const wbc::TaskConfig &in, wbc_msgs::msg::TaskConfig &out)
void	toROS (const wbc::TaskStatus &in, wbc_msgs::msg::TaskStatus &out)
void	toROS (const base::Time &in, builtin_interfaces::msg::Time &out)
void	toRaw (const wbc_msgs::msg::RigidBodyState &in, std::vector< double > &out)
void	toRaw (const trajectory_msgs::msg::JointTrajectory &in, std::vector< double > &out)
void	fromRaw (const std::vector< double > &in, base::samples::RigidBodyStateSE3 &out)
void	fromRaw (const std::vector< double > &in, base::samples::Joints &out)

Function Documentation

fromRaw() [1/2]

void fromRaw	(	const std::vector< double > &	in,
		base::samples::Joints &	out )

fromRaw() [2/2]

void fromRaw	(	const std::vector< double > &	in,
		base::samples::RigidBodyStateSE3 &	out )

fromROS() [1/9]

void fromROS	(	const geometry_msgs::msg::Accel &	in,
		base::Acceleration &	out )

fromROS() [2/9]

void fromROS	(	const geometry_msgs::msg::Pose &	in,
		base::Pose &	out )

fromROS() [3/9]

void fromROS	(	const geometry_msgs::msg::Twist &	in,
		base::Twist &	out )

fromROS() [4/9]

void fromROS	(	const geometry_msgs::msg::WrenchStamped &	in,
		base::samples::Wrench &	out )

fromROS() [5/9]

void fromROS	(	const sensor_msgs::msg::JointState &	in,
		base::samples::Joints &	out )

fromROS() [6/9]

void fromROS	(	const std_msgs::msg::Float64MultiArray &	in,
		base::VectorXd &	out )

fromROS() [7/9]

void fromROS	(	const std_msgs::msg::Float64MultiArray &	in,
		const std::vector< std::string > &	joint_names,
		wbc::JointWeights &	out )

fromROS() [8/9]

void fromROS	(	const trajectory_msgs::msg::JointTrajectory &	in,
		base::samples::Joints &	out )

fromROS() [9/9]

void fromROS	(	const wbc_msgs::msg::RigidBodyState &	in,
		base::samples::RigidBodyStateSE3 &	out )

toRaw() [1/2]

void toRaw	(	const trajectory_msgs::msg::JointTrajectory &	in,
		std::vector< double > &	out )

toRaw() [2/2]

void toRaw	(	const wbc_msgs::msg::RigidBodyState &	in,
		std::vector< double > &	out )

toROS() [1/10]

void toROS	(	const base::Acceleration &	in,
		geometry_msgs::msg::Accel &	out )

toROS() [2/10]

void toROS	(	const base::commands::Joints &	in,
		trajectory_msgs::msg::JointTrajectory &	out )

toROS() [3/10]

void toROS	(	const base::Pose &	in,
		geometry_msgs::msg::Pose &	out )

toROS() [4/10]

void toROS	(	const base::samples::Joints &	in,
		sensor_msgs::msg::JointState &	out )

toROS() [5/10]

void toROS	(	const base::samples::RigidBodyStateSE3 &	in,
		wbc_msgs::msg::RigidBodyState &	out )

toROS() [6/10]

void toROS	(	const base::Time &	in,
		builtin_interfaces::msg::Time &	out )

toROS() [7/10]

void toROS	(	const base::Twist &	in,
		geometry_msgs::msg::Twist &	out )

toROS() [8/10]

void toROS	(	const base::VectorXd &	in,
		std_msgs::msg::Float64MultiArray &	out )

toROS() [9/10]

void toROS	(	const wbc::TaskConfig &	in,
		wbc_msgs::msg::TaskConfig &	out )

toROS() [10/10]

void toROS	(	const wbc::TaskStatus &	in,
		wbc_msgs::msg::TaskStatus &	out )