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Convert geometry_ msgs/Pose to Point

asked 2016-11-30 05:46:30 -0500

mutu gravatar image

Hey all!,

i got a Posestd::vector<geometry_msgs::Pose> waypoints and now i would like to transform it to geometry_msgs::Point. I tried to convert it to Eigen and afterwards in Point. My first step would be something like:

std::vector<geometry_msgs::Pose> m;
m = waypoints;
Eigen::Affine3d e;

and i get an error: no matching function for call to poseMsgToEigen. Do you have any suggestions ?

Greetings mutu

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answered 2016-11-30 06:41:59 -0500

rbbg gravatar image

Hi Mutu,

A geometry_msgs::Pose actually contains a geometry_msgs::Point as you can read in the documentation.

to get the pose just type:

geometry_msgs::Point pt = waypoints[i].position;

for the index i that you want. Do note that you lose the orientation information that is also contained in the pose.

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thank you! That solved my problem!

mutu gravatar image mutu  ( 2016-12-01 08:15:19 -0500 )edit

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Asked: 2016-11-30 05:46:30 -0500

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Last updated: Nov 30 '16