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msg: rotation_matrix
Salvo Virga edited this page Sep 22, 2018
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3 revisions
simple_msgs::RotationMatrix
messages represent a 3D rotation in space using a 3x3 matrix using row-major ordering.
A simple_msgs::RotationMatrixStamped
message is a RotationMatrix
+ Header
:
the rotation can then be linked to a reference frame defined by Header.frame_id
and their timestamp can be stored in Header.timestamp
.
In code:
simple_msgs::Header my_header{0, "root", 1.0};
simple_msgs::RotationMatrix my_matrix{1.0, 0.0, 2.0,
4.0, 5.0, 1.0,
0.0, 0.0, 1.0};
simple_msgs::RotationMatrixStamped my_matrixstamped{my_header, my_matrix};
You can manipulate the PoseStamped
message using its setters/getters. E.g.
my_matrixstamped.setColumn(1, {0.0, 0.0, 1.0});
You can get an Identity matrix with:
simple_msgs::RotationMatrix::Identity();