KdlVectorConverter.hpp

// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
#ifndef __KDL_VECTOR_CONVERTER_HPP__
#define __KDL_VECTOR_CONVERTER_HPP__
 
#include <vector>
 
#include <kdl/frames.hpp>
 
namespace roboticslab::KdlVectorConverter
{
 
KDL::Frame vectorToFrame(const std::vector<double> & x);
 
std::vector<double> frameToVector(const KDL::Frame & f);
 
KDL::Twist vectorToTwist(const std::vector<double> & xdot);
 
std::vector<double> twistToVector(const KDL::Twist & t);
 
KDL::Wrench vectorToWrench(const std::vector<double> & f);
 
std::vector<double> wrenchToVector(const KDL::Wrench & w);
 
} // namespace roboticslab::KdlVectorConverter
 
#endif // __KDL_VECTOR_CONVERTER_HPP__