sas_conversions.DQ_geometry_msgs_conversions Namespace Reference

Functions
	_add_header (msg, Node node=None)
	Add a ROS2 std_msgs/Header with the current time to msg.
	geometry_msgs_point_to_dq (msg)
	Convert a geometry_msgs.msg.Point into a dqrobotics DQ translation.
	dq_to_geometry_msgs_point (t)
	Convert a dqrobotics DQ translation into a geometry_msgs.msg.Point.
	geometry_msgs_quaternion_to_dq (msg)
	Convert a geometry_msgs.msg.Quaternion into a normalized rotation DQ.
	dq_to_geometry_msgs_quaternion (r)
	Convert a dqrobotics rotation DQ into geometry_msgs.msg.Quaternion.
	geometry_msgs_pose_to_dq (msg)
	Convert a geometry_msgs.msg.Pose into a dqrobotics DQ pose.
	dq_to_geometry_msgs_pose (dq)
	Convert a dqrobotics DQ pose into a geometry_msgs.msg.Pose.
	dq_to_geometry_msgs_pose_stamped (dq, Node node=None)
	Convert a dqrobotics DQ into a geometry_msgs.msg.PoseStamped.
	geometry_msgs_pose_stamped_to_dq (ps)
	Convert a geometry_msgs.msg.PoseStamped into a dqrobotics DQ.
	geometry_msgs_wrench_to_dq (msg)
	Convert a geometry_msgs.msg.Wrench into force and torque DQs.
	dq_to_geometry_msgs_wrench (force, torque)
	Convert force and torque DQs into a geometry_msgs.msg.Wrench.
	geometry_msgs_wrench_stamped_to_dq (msg)
	Convert a geometry_msgs.msg.WrenchStamped into force and torque pure quaternion DQs.
	dq_to_geometry_msgs_wrench_stamped (force, torque, Node node=None)
	Convert force and torque DQs into a geometry_msgs.msg.WrenchStamped.
	geometry_msgs_twist_to_dq (msg)
	Convert a geometry_msgs.msg.Twist into pure quaternion linear and angular DQs.
	dq_to_geometry_msgs_twist (linear, angular)
	Convert linear and angular DQs into a geometry_msgs.msg.Twist.

Detailed Description

# Copyright (c) 2012-2026 Murilo Marques Marinho
#
#    This file is part of sas_conversions.
#
#    sas_conversions is free software: you can redistribute it and/or modify
#    it under the terms of the GNU Lesser General Public License as published by
#    the Free Software Foundation, either version 3 of the License, or
#    (at your option) any later version.
#
#    sas_conversions is distributed in the hope that it will be useful,
#    but WITHOUT ANY WARRANTY; without even the implied warranty of
#    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
#    GNU Lesser General Public License for more details.
#
#    You should have received a copy of the GNU Lesser General Public License
#    along with sas_conversions.  If not, see <https://www.gnu.org/licenses/>.
#
# ################################################################
#
#   Author: Murilo M. Marinho, email: murilomarinho@ieee.org
#
# ################################################################

Function Documentation

_add_header()

_add_header ( msg, Node node = None )

protected

Add a ROS2 std_msgs/Header with the current time to msg.

If node is provided the function will set msg.header and populate the timestamp. If node is None, the function does nothing.

Parameters

msg	ROS2 message with a .header attribute to populate.
node	Optional rclpy.node.Node used to obtain the current time.

Returns

None

dq_to_geometry_msgs_point()

dq_to_geometry_msgs_point

(

t

)

Convert a dqrobotics DQ translation into a geometry_msgs.msg.Point.

Expects t to be a pure quaternion DQ.

Parameters

t	dqrobotics.DQ instance encoding a translation.

Returns

geometry_msgs.msg.Point The corresponding ROS2 Point message.

dq_to_geometry_msgs_pose()

dq_to_geometry_msgs_pose

(

dq

)

Convert a dqrobotics DQ pose into a geometry_msgs.msg.Pose.

Parameters

dq	dqrobotics.DQ pose to convert.

Returns

geometry_msgs.msg.Pose The corresponding ROS2 Pose message.

dq_to_geometry_msgs_pose_stamped()

dq_to_geometry_msgs_pose_stamped	(		dq,
		Node	node = None )

Convert a dqrobotics DQ into a geometry_msgs.msg.PoseStamped.

If node is provided the resulting message will include a populated header.stamp using the node's clock.

Parameters

dq	dqrobotics.DQ pose to convert.
node	Optional rclpy.node.Node for timestamping the header.

Returns

geometry_msgs.msg.PoseStamped The stamped Pose message.

dq_to_geometry_msgs_quaternion()

dq_to_geometry_msgs_quaternion

(

r

)

Convert a dqrobotics rotation DQ into geometry_msgs.msg.Quaternion.

Parameters

r	dqrobotics.DQ rotation quaternion).

Returns

geometry_msgs.msg.Quaternion The corresponding ROS2 Quaternion message.

dq_to_geometry_msgs_twist()

dq_to_geometry_msgs_twist	(		linear,
			angular )

Convert linear and angular DQs into a geometry_msgs.msg.Twist.

Parameters

linear	dqrobotics.DQ encoding linear velocity vector.
angular	dqrobotics.DQ encoding angular velocity vector.

Returns

geometry_msgs.msg.Twist The corresponding ROS2 Twist message.

dq_to_geometry_msgs_wrench()

dq_to_geometry_msgs_wrench	(		force,
			torque )

Convert force and torque DQs into a geometry_msgs.msg.Wrench.

Both force and torque are expected to be pure quaternion DQ objects.

Parameters

force	dqrobotics.DQ representing the force.
torque	dqrobotics.DQ representing the torque.

Returns

geometry_msgs.msg.Wrench The corresponding ROS2 Wrench message.

dq_to_geometry_msgs_wrench_stamped()

dq_to_geometry_msgs_wrench_stamped	(		force,
			torque,
		Node	node = None )

Convert force and torque DQs into a geometry_msgs.msg.WrenchStamped.

Optionally populates the header timestamp when node is provided.

Parameters

force	dqrobotics.DQ encoding force vector.
torque	dqrobotics.DQ encoding torque vector.
node	Optional rclpy.node.Node for header timestamping.

Returns

geometry_msgs.msg.WrenchStamped The stamped Wrench message.

geometry_msgs_point_to_dq()

geometry_msgs_point_to_dq

(

msg

)

Convert a geometry_msgs.msg.Point into a dqrobotics DQ translation.

The returned DQ encodes the translation vector (x, y, z) as a pure quaternion.

Parameters

msg	geometry_msgs.msg.Point to convert.

Returns

dqrobotics.DQ Pure quaternion representing the translation.

geometry_msgs_pose_stamped_to_dq()

geometry_msgs_pose_stamped_to_dq

(

ps

)

Convert a geometry_msgs.msg.PoseStamped into a dqrobotics DQ.

Parameters

ps	geometry_msgs.msg.PoseStamped to convert.

Returns

dqrobotics.DQ Dual quaternion representing the pose.

geometry_msgs_pose_to_dq()

geometry_msgs_pose_to_dq

(

msg

)

Convert a geometry_msgs.msg.Pose into a dqrobotics DQ pose.

Parameters

msg	geometry_msgs.msg.Pose to convert.

Returns

dqrobotics.DQ Dual quaternion representing the pose.

geometry_msgs_quaternion_to_dq()

geometry_msgs_quaternion_to_dq

(

msg

)

Convert a geometry_msgs.msg.Quaternion into a normalized rotation DQ.

Parameters

msg	geometry_msgs.msg.Quaternion to convert.

Returns

dqrobotics.DQ Normalized rotation quaternion.

geometry_msgs_twist_to_dq()

geometry_msgs_twist_to_dq

(

msg

)

Convert a geometry_msgs.msg.Twist into pure quaternion linear and angular DQs.

Parameters

msg	geometry_msgs.msg.Twist to convert.

Returns

tuple(dqrobotics.DQ, dqrobotics.DQ) (linear, angular)

geometry_msgs_wrench_stamped_to_dq()

geometry_msgs_wrench_stamped_to_dq

(

msg

)

Convert a geometry_msgs.msg.WrenchStamped into force and torque pure quaternion DQs.

Parameters

msg	geometry_msgs.msg.WrenchStamped to convert.

Returns

tuple(dqrobotics.DQ, dqrobotics.DQ) (force, torque)

geometry_msgs_wrench_to_dq()

geometry_msgs_wrench_to_dq

(

msg

)

Convert a geometry_msgs.msg.Wrench into force and torque DQs.

Returns a tuple (force, torque) where each element is pure quaternion DQ.

Parameters

msg	geometry_msgs.msg.Wrench to convert.

Returns

tuple(dqrobotics.DQ, dqrobotics.DQ) (force, torque)