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27 lines
744 B
27 lines
744 B
#pragma once
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#include <drake_vendor/gz/math/Pose3.hh>
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#include "drake/common/eigen_types.h"
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#include "drake/math/rigid_transform.h"
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namespace drake {
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namespace multibody {
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namespace internal {
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// Helper function to express a gz::math::Vector3d instance as
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// a Vector3d instance.
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Eigen::Vector3d ToVector3(const gz::math::Vector3d& vector);
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// Helper function to express a gz::math::Pose3d instance as
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// a RigidTransform instance.
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math::RigidTransformd ToRigidTransform(const gz::math::Pose3d& pose);
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// Helper function to express a RigidTransform instance as an
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// gz::math::Pose3d instance.
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gz::math::Pose3d ToIgnitionPose3d(const math::RigidTransformd& pose);
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} // namespace internal
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} // namespace multibody
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} // namespace drake
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