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fonction conv Vector4f -> Quaternion

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This commit is contained in:
Louis-Guillaume DUBOIS 2015-04-23 14:04:03 +02:00
parent 4584fb6374
commit 5fa9d37571
1 changed files with 11 additions and 0 deletions
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11
hand_control/src/normal_estimator.cpp
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@ -9,6 +9,17 @@ typedef pcl::PointCloud<Point> PointCloud;
typedef Eigen::Vector4f PCLCoord; // vecteur, accès par v(0), v(1)...
typedef geometry_msgs::Quaternion ROSCoord; // struct : x, y, z, w
const ROSCoord::ConstPtr
PCLCoord_to_ROSCoord(const PCLCoord& pcl_coord)
{
ROSCoord::Ptr ros_coord(new ROSCoord());
ros_coord->x = pcl_coord(0); // a
ros_coord->y = pcl_coord(1); // b
ros_coord->z = pcl_coord(2); // c
ros_coord->w = pcl_coord(3); // d
return ros_coord;
}
int
main(int argc, char** argv)
{