๋ฐ•์„ฑ์ฐฝ (bigbigpark)

Interested in Robotics SW

์ตœ๊ทผ ๊ฒŒ์‹œ๋ฌผ

[C++] geometry_msgs/Pose to Eigen::Matrix4f

July 14 2022

C++๋กœ ์ˆ˜ํ•™์  ํ‘œํ˜„์„ ๋‹ค๋ฃจ๋‹ค๋ณด๋ฉด ํ–‰๋ ฌ ํ‘œํ˜„์„ ํ”ผํ•  ์ˆ˜ ์—†๋‹ค ๋ณดํ†ต Eigen ๋ผ์ด๋ธŒ๋Ÿฌ๋ฆฌ๋ฅผ ์ด์šฉํ•˜์—ฌ ๋งŽ์ด๋“ค ํ‘œํ˜„ํ•˜๋Š”๋ฐ, ์ด ๋•Œ Rotation๊ณผ Translation์ด ๋‹ด๊ธด Transformation matrix๋ฅผ ๋งŽ์ด ์‚ฌ์šฉํ•œ๋‹ค. ๊ธฐ๋ณธ์ ์œผ๋กœ 4x4 ํ–‰๋ ฌ์ด๋ฉฐ ์ƒํ˜ธ ๋ณ€ํ™˜ํ•ด์„œ ์‚ฌ์šฉํ•˜๋Š”...