pose_string.cpp

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// This code goes with the interactivity tutorial
//    http://moveit.ros.org/wiki/index.php/Groovy/InteractiveRobot/InteractivityTutorial

#include "pose_string.h"

// tf
#include <eigen_conversions/eigen_msg.h>

#include <iostream>
#include <iomanip>

std::string PoseString(const geometry_msgs::Pose& pose)
{
  std::stringstream ss;
  ss << "p(";
  ss << std::setprecision(3);
  ss << std::setiosflags(std::ios::fixed);
  ss << std::setw(7) << pose.position.x << ", ";
  ss << std::setw(7) << pose.position.y << ", ";
  ss << std::setw(7) << pose.position.z << ") q(";
  ss << std::setw(7) << pose.orientation.x << ", ";
  ss << std::setw(7) << pose.orientation.y << ", ";
  ss << std::setw(7) << pose.orientation.z << ", ";
  ss << std::setw(7) << pose.orientation.w << ")";

  return std::string(ss.str());
}

std::string PoseString(const Eigen::Affine3d &pose)
{
  geometry_msgs::Pose msg;
  tf::poseEigenToMsg(pose, msg);
  return PoseString(msg);
}