1 #include "pinocchio/parsers/urdf/utils.hpp" 12 const ::urdf::Vector3 & p = M.position;
13 const ::urdf::Rotation & q = M.rotation;
14 return SE3(SE3::Quaternion(q.w,q.x,q.y,q.z).matrix(),
15 SE3::Vector3(p.x,p.y,p.z));
static Inertia convertFromUrdf(const ::urdf::Inertial &Y)
Convert URDF Inertial quantity to Spatial Inertia.
Main pinocchio namespace.