conversions.h

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
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#ifndef FLIRTLIB_ROS_CONVERSIONS_H
#define FLIRTLIB_ROS_CONVERSIONS_H

#include "flirtlib.h"
#include <flirtlib_ros/ScanMap.h>
#include <sensor_msgs/LaserScan.h>
#include <visualization_msgs/Marker.h>
#include <geometry_msgs/Pose.h>


namespace flirtlib_ros
{

boost::shared_ptr<LaserReading> fromRos(const sensor_msgs::LaserScan& scan);

visualization_msgs::Marker interestPointMarkers (const std::vector<InterestPoint*>& pts,
                                                  const geometry_msgs::Pose& pose,
                                                  unsigned id=0);


std::vector<visualization_msgs::Marker> poseMarkers (const std::vector<geometry_msgs::Pose>& poses);

InterestPointRos toRos (const InterestPoint& pt);

InterestPoint* fromRos (const InterestPointRos& m);

struct RefScan
{
  sensor_msgs::LaserScan::ConstPtr scan;
  geometry_msgs::Pose pose;
  std::vector<boost::shared_ptr<InterestPoint> > pts;
  std::vector<InterestPoint*> raw_pts;

  RefScan (sensor_msgs::LaserScan::ConstPtr scan,
           const geometry_msgs::Pose& pose,
           std::vector<InterestPoint*>& pts);

};

RefScanRos toRos (const RefScan& r);

RefScan fromRos (const RefScanRos& r);

std::vector<RefScan> fromRos (const ScanMap& scan_map);

ScanMap toRos (const std::vector<RefScan>& scans);


} // namespace

#endif // include guard