pose_conversion.h

Functions

Eigen::Matrix4d ouster::core::euler_pose_to_matrix(const Eigen::Matrix<double, 6, 1> &pose)

Converts a pose given in Euler angles and translation to a homogeneous transformation matrix. The rotation is applied in the order of yaw, pitch, roll.

The pose vector should contain the following elements in this order:

  • roll (rotation along X-axis in radians)

  • pitch (rotation along Y-axis in radians)

  • yaw (rotation along Z-axis in radians)

  • x (translation along X-axis)

  • y (translation along Y-axis)

  • z (translation along Z-axis)

Parameters:

pose – [in] A 6x1 vector containing the pose information.

Returns:

Eigen::Matrix4d The 4x4 homogeneous transformation matrix.

Eigen::Matrix4d ouster::core::quaternion_pose_to_matrix(const Eigen::Matrix<double, 7, 1> &pose)

Converts a pose given in quaternion and translation to a homogeneous transformation matrix.

The pose vector should contain the following elements in this order:

  • qw (quaternion w component)

  • qx (quaternion x component)

  • qy (quaternion y component)

  • qz (quaternion z component)

  • x (translation along X-axis)

  • y (translation along Y-axis)

  • z (translation along Z-axis)

Parameters:

pose – [in] A 7x1 vector containing the pose information.

Returns:

Eigen::Matrix4d The 4x4 homogeneous transformation matrix.