Would the eigen_conversions package be a suitable location for these
functions? It may be a little far fetched .. if it is, we will just start a
new package (outside moveit, so others can depend on it without moveit)


On Tue, Jan 8, 2013 at 2:34 AM, marioprats <notifications@github.com> wrote:

> In planning_interface/robot_interaction/src/robot_interaction.cpp:
>
> > @@ -399,6 +415,120 @@ bool RobotInteraction::updateState(kinematic_state::KinematicState &state, const
> >    return state.getJointStateGroup(eef.parent_group)->setFromIK(pose, eef.parent_link, attempts, ik_timeout, validity_callback);
> >  }
> >
> > +//TODO: move functions like this into an eigen_utils package
>
> This converts an transform given in an homogeneous matrix to a pose vector
> in (t, utheta) representation. Eigen lacks a lot of functions useful for
> robotics. I would start with this one, the moore-penrose pseudoinverse, and
> twist transformation matrices, but for sure there are more that would be
> nice to have.
>
> —
> Reply to this email directly or view it on GitHub<https://github.com/ros-planning/moveit_ros/pull/126/files#r2572039>.
>
>