예제 #1
0
 public static Pose ToPose(Rox.Transform tf)
 {
     return(new Pose()
     {
         orientation = ToQuaternion(R2Q(tf.R)), position = ToPoint(tf.P)
     });
 }
예제 #2
0
 public static Transform ToTransform(Rox.Transform tf)
 {
     return(new Transform()
     {
         rotation = ToQuaternion(R2Q(tf.R)), translation = ToVector3(tf.P)
     });
 }
예제 #3
0
        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);
        }
예제 #4
0
        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);
        }