public static Pose ToPose(Rox.Transform tf)
{
return(new Pose()
{
orientation = ToQuaternion(R2Q(tf.R)), position = ToPoint(tf.P)
});
}
public static Transform ToTransform(Rox.Transform tf)
{
return(new Transform()
{
rotation = ToQuaternion(R2Q(tf.R)), translation = ToVector3(tf.P)
});
}
public static NamedPose ToNamedPose(Rox.Transform tf)
{
var o = new NamedPose();
o.pose = ToPose(tf);
o.frame.name = tf.Child_frame_id ?? "";
o.parent_frame.name = tf.Parent_frame_id ?? "";
return(o);
}
public static NamedTransform ToNamedTransform(Rox.Transform tf)
{
var o = new NamedTransform();
o.transform = ToTransform(tf);
o.child_frame.name = tf.Child_frame_id ?? "";
o.parent_frame.name = tf.Parent_frame_id ?? "";
return(o);
}