control_utils.h

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#ifndef FLYER_CONTROLLER_CONTROL_UTILS_H
#define FLYER_CONTROLLER_CONTROL_UTILS_H

#include <nav_msgs/Odometry.h>
#include <tf/tf.h>

inline void odom_msg_to_xyz(const nav_msgs::OdometryConstPtr& odom_msg, double& x, double& y, double& z)
{
  x = odom_msg->pose.pose.position.x;
  y = odom_msg->pose.pose.position.y;
  z = odom_msg->pose.pose.position.z;
}

inline void odom_msg_to_lin_vel(const nav_msgs::OdometryConstPtr& odom_msg, double& vx, double& vy, double& vz)
{
  vx = odom_msg->twist.twist.linear.x;
  vy = odom_msg->twist.twist.linear.y;
  vz = odom_msg->twist.twist.linear.z;
}

// Returned yaw, pitch, roll are in radians
inline void odom_msg_to_ypr(const nav_msgs::OdometryConstPtr& odom_msg, double& yaw, double& pitch, double& roll)
{
  tf::Quaternion temp_q;
  tf::quaternionMsgToTF(odom_msg->pose.pose.orientation, temp_q);
  tf::Matrix3x3 temp_mat = tf::Matrix3x3(temp_q);
  temp_mat.getEulerYPR(yaw, pitch, roll);
}

inline void odom_msg_to_rotation_matrix(const nav_msgs::OdometryConstPtr& odom_msg, tf::Matrix3x3& R_I_B)
{
  tf::Quaternion temp_q;
  tf::quaternionMsgToTF(odom_msg->pose.pose.orientation, temp_q);
  R_I_B = tf::Matrix3x3(temp_q);
}

#endif // FLYER_CONTROLLER_CONTROL_UTILS_H