transforms.h

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#ifndef POSE_GRAPH_TRANSFORM_H
#define POSE_GRAPH_TRANSFORM_H

#include <Eigen3/Dense>
#include <tf/transform_datatypes.h>
#include <geometry_msgs/Pose.h>
#include <geometry_msgs/Point32.h>
#include <geometry_msgs/Pose2D.h>
#include <nav_msgs/OccupancyGrid.h>

namespace pose_graph
{

using Eigen3::Affine3d;
using Eigen3::Vector3d;
using Eigen3::Quaterniond;
using geometry_msgs::Pose;
using geometry_msgs::Point32;
using geometry_msgs::Pose2D;
using geometry_msgs::Point;


Affine3d poseToWorldTransform (const Pose& pose);

Affine3d relativeTransform (const Pose& pose1, const Pose& pose2);

Affine3d relativeTransform (const Pose2D& pose1, const Pose2D& pose2);

Pose relativePose (const Pose& pose1, const Pose& pose2);

Point pointInReferenceFrame (const Point& p, const Pose& pose);

Affine3d transformBetween (const Pose& pose1, const Pose& pose2);

Pose applyTransform (const Affine3d& trans, const Pose& pose);

Point32 transformPoint (const Affine3d& trans, const Point32& pt);

Point transformPoint (const Affine3d& trans, const Point& pt);

Pose perturbPose (const Pose& pose, double r);

Eigen3::Vector4d quaternionMsgToVector4d (const geometry_msgs::Quaternion& m);

Eigen3::Vector4d translationToVector4d(const geometry_msgs::Point& p);

Pose2D projectToPose2D (const Pose& pose);

Pose convertToPose (const Pose2D& pose2d);

Pose convertToPose (const Affine3d trans);

Pose2D makePose2D (double x, double y, double theta=0.0);

nav_msgs::OccupancyGrid transformGrid (const Affine3d& trans, const nav_msgs::OccupancyGrid& g);

nav_msgs::MapMetaData getMapInfo (const Pose& pose, const double size, const double resolution);


} // namespace pose_graph

#endif