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Add from ros angular conversion #59

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Merged
prony5 merged 1 commit into from
Jul 23, 2025
Merged

Add from ros angular conversion #59

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5 changes: 5 additions & 0 deletions Runtime/Utils/RosConvertor.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -39,6 +39,11 @@ public static geometry_msgs.msg.Vector3 ToRosAngular(this Vector3 v)
return new geometry_msgs.msg.Vector3() { x = -v.z, y = v.x, z = -v.y };
}

public static Vector3 FromRosAngular(this geometry_msgs.msg.Vector3 v)
{
return new Vector3((float)v.y, (float)-v.z, (float)-v.x);
}

public static Quaternion FromRos(this geometry_msgs.msg.Quaternion q)
{
return new Quaternion((float)q.y, (float)-q.z, (float)-q.x, (float)q.w);
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