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eigen to pose msg #41

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Merged
forrisdahl merged 1 commit into from
Mar 1, 2026
Merged

eigen to pose msg #41

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24 changes: 24 additions & 0 deletions vortex_utils_ros/include/vortex/utils/ros/ros_conversions.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -57,6 +57,30 @@ geometry_msgs::msg::Pose to_pose_msg(const T& pose_like) {
return pose;
}

/**
* @brief Converts position and orientation in Eigen types to a ROS
* geometry_msgs::msg::Pose.
*
* @param pos Position as Eigen::Vector3d
* @param ori Orientation as Eigen::Quaterniond
* @return geometry_msgs::msg::Pose ROS pose message
*/
inline geometry_msgs::msg::Pose eigen_to_pose_msg(
const Eigen::Vector3d& pos,
const Eigen::Quaterniond& ori) {
geometry_msgs::msg::Pose pose;
pose.position.x = pos.x();
pose.position.y = pos.y();
pose.position.z = pos.z();

pose.orientation.w = ori.w();
pose.orientation.x = ori.x();
pose.orientation.y = ori.y();
pose.orientation.z = ori.z();

return pose;
}

/**
* @brief Converts a range of PoseLike objects to a vector of ROS pose messages.
*
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