conversions.hpp File Reference

#include <rclcpp/rclcpp.hpp>
#include <geometry_msgs/msg/twist.hpp>
#include <geometry_msgs/msg/wrench.hpp>
#include <std_msgs/msg/float64_multi_array.hpp>
#include <robot_control_msgs/msg/rigid_body_state.hpp>
#include <robot_control_msgs/msg/joint_command.hpp>
#include <robot_control_msgs/msg/joint_state.hpp>
#include <robot_control_msgs/msg/robot_state.hpp>
#include <robot_control_msgs/msg/contacts.hpp>
#include <wbc/types/JointState.hpp>
#include <wbc/types/JointCommand.hpp>
#include <wbc/types/RigidBodyState.hpp>
#include <wbc/types/Wrench.hpp>
#include <wbc/types/Contact.hpp>

Go to the source code of this file.

Functions
void	fromROS (const geometry_msgs::msg::Pose &in, wbc::types::Pose &out)
void	fromROS (const geometry_msgs::msg::Twist &in, wbc::types::Twist &out)
void	fromROS (const geometry_msgs::msg::Accel &in, wbc::types::SpatialAcceleration &out)
void	fromROS (const geometry_msgs::msg::Wrench &in, wbc::types::Wrench &out)
void	fromROS (const robot_control_msgs::msg::JointState &in, const std::vector< int > &joint_indices, wbc::types::JointState &out)
void	fromROS (const robot_control_msgs::msg::RigidBodyState &in, wbc::types::RigidBodyState &out)
void	fromROS (const robot_control_msgs::msg::JointCommand &in, const std::vector< int > &joint_indices, wbc::types::JointCommand &out)
void	fromROS (const robot_control_msgs::msg::Contacts &in, std::vector< wbc::types::Contact > &out)
void	fromROS (const std_msgs::msg::Float64MultiArray &in, Eigen::VectorXd &out)
void	fromROS (const robot_control_msgs::msg::RobotState &in, const std::vector< int > &joint_indices, wbc::types::JointState &joint_state_out, wbc::types::RigidBodyState &floating_base_state_out)
void	toROS (const wbc::types::RigidBodyState &in, robot_control_msgs::msg::RigidBodyState &out)
void	toROS (const wbc::types::JointCommand &in, const std::vector< int > &joint_indices, robot_control_msgs::msg::JointCommand &out)
void	toROS (const wbc::types::JointCommand &in, const std::vector< double > &kp, const std::vector< double > &kd, const std::vector< int > &joint_indices, robot_control_msgs::msg::JointCommand &out)
void	toROS (const Eigen::VectorXd &in, std_msgs::msg::Float64MultiArray &out)
void	toROS (const wbc::types::Pose &in, geometry_msgs::msg::Pose &out)
void	toROS (const wbc::types::Twist &in, geometry_msgs::msg::Twist &out)
void	toROS (const wbc::types::SpatialAcceleration &in, geometry_msgs::msg::Accel &out)
void	toROS (const wbc::types::Pose &pose, const wbc::types::Twist &twist, const wbc::types::SpatialAcceleration &acc, robot_control_msgs::msg::RigidBodyState &out)
void	toROS (const wbc::types::JointState &in, const std::vector< int > &joint_indices, robot_control_msgs::msg::JointState &out)

Function Documentation

fromROS() [1/10]

void fromROS	(	const geometry_msgs::msg::Accel &	in,
		wbc::types::SpatialAcceleration &	out )

fromROS() [2/10]

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

fromROS() [3/10]

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

fromROS() [4/10]

void fromROS	(	const geometry_msgs::msg::Wrench &	in,
		wbc::types::Wrench &	out )

fromROS() [5/10]

void fromROS	(	const robot_control_msgs::msg::Contacts &	in,
		std::vector< wbc::types::Contact > &	out )

fromROS() [6/10]

void fromROS	(	const robot_control_msgs::msg::JointCommand &	in,
		const std::vector< int > &	joint_indices,
		wbc::types::JointCommand &	out )

fromROS() [7/10]

void fromROS	(	const robot_control_msgs::msg::JointState &	in,
		const std::vector< int > &	joint_indices,
		wbc::types::JointState &	out )

fromROS() [8/10]

void fromROS	(	const robot_control_msgs::msg::RigidBodyState &	in,
		wbc::types::RigidBodyState &	out )

fromROS() [9/10]

void fromROS	(	const robot_control_msgs::msg::RobotState &	in,
		const std::vector< int > &	joint_indices,
		wbc::types::JointState &	joint_state_out,
		wbc::types::RigidBodyState &	floating_base_state_out )

fromROS() [10/10]

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

toROS() [1/9]

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

toROS() [2/9]

void toROS	(	const wbc::types::JointCommand &	in,
		const std::vector< double > &	kp,
		const std::vector< double > &	kd,
		const std::vector< int > &	joint_indices,
		robot_control_msgs::msg::JointCommand &	out )

toROS() [3/9]

void toROS	(	const wbc::types::JointCommand &	in,
		const std::vector< int > &	joint_indices,
		robot_control_msgs::msg::JointCommand &	out )

toROS() [4/9]

void toROS	(	const wbc::types::JointState &	in,
		const std::vector< int > &	joint_indices,
		robot_control_msgs::msg::JointState &	out )

toROS() [5/9]

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

toROS() [6/9]

void toROS	(	const wbc::types::Pose &	pose,
		const wbc::types::Twist &	twist,
		const wbc::types::SpatialAcceleration &	acc,
		robot_control_msgs::msg::RigidBodyState &	out )

toROS() [7/9]

void toROS	(	const wbc::types::RigidBodyState &	in,
		robot_control_msgs::msg::RigidBodyState &	out )

toROS() [8/9]

void toROS	(	const wbc::types::SpatialAcceleration &	in,
		geometry_msgs::msg::Accel &	out )

toROS() [9/9]

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