tf_helper.h

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#ifndef TF_HELPER_H
#define TF_HELPER_H

#include <Eigen/Geometry>
#include <tf/transform_datatypes.h>
#include <imu_filter/observation.h>

 namespace imu_filter {

         //* Helper functions for tf data type conversion
         namespace tf_helper
         {
                 static inline void toTfTransform( const Eigen::Quaterniond & q, const Eigen::Vector3d & trans, tf::Transform & transform )
                 {
                         transform.setRotation( tf::Quaternion( q.x(), q.y(), q.z(), q.w() ) );
                         transform.setOrigin( tf::Vector3( trans.x(), trans.y(), trans.z() ) );
                 }

                 static inline void toTfTransform( const Eigen::Affine3d & pose, tf::Transform & transform )
                 {
                         Eigen::Quaterniond q;
                         q = pose.rotation();
                         transform.setRotation( tf::Quaternion( q.x(), q.y(), q.z(), q.w() ) );
                         transform.setOrigin( tf::Vector3( pose.translation().x(), pose.translation().y(), pose.translation().z() ) );
                 }

                 static inline void toTfTransform( const Observation::Vector & vec, tf::Transform & transform )
                 {
                         transform.setRotation( tf::Quaternion( vec[ 0 ], vec[ 1 ], vec[ 2 ], vec[ 3 ] ) );
                         transform.setOrigin( tf::Vector3( vec[ 4 ], vec[ 5 ], vec[ 6 ] ) );
                 }

                 static inline void toEigen( const tf::Transform & transform, Eigen::Quaterniond & q, Eigen::Vector3d & trans )
                 {
                         const tf::Quaternion & rot = transform.getRotation();
                         const tf::Vector3 & t = transform.getOrigin();

                         q.x() = rot.x();
                         q.y() = rot.y();
                         q.z() = rot.z();
                         q.w() = rot.w();

                         trans.x() = t.x();
                         trans.y() = t.y();
                         trans.z() = t.z();
                 }

         }

 }

#endif