/*
 * Copyright (c) 2009, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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/*
 * Author: Stuart Glaser
 */

#ifndef EIGEN_KDL_CONVERSIONS_H
#define EIGEN_KDL_CONVERSIONS_H

#include <Eigen/Core>
#include <Eigen/Geometry>

#include <kdl/frames.hpp>

namespace tf {

/// Converts a KDL twist into an Eigen matrix
void twistKDLToEigen(const KDL::Twist &k, Eigen::Matrix<double, 6, 1> &e);

/// Converts a KDL frame into an Eigen transform
void transformKDLToEigen(const KDL::Frame &k, Eigen::eigen2_Transform3d &e);

} // namespace

#endif
