laser_scan.h

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#ifndef MRPT_BRIDGE_LASER_SCAN_H
#define MRPT_BRIDGE_LASER_SCAN_H



#include <stdint.h>
#include <string>

namespace std{
    template <class T> class allocator;
}

namespace geometry_msgs{
    template <class ContainerAllocator> struct Pose_;
    typedef Pose_<std::allocator<void> > Pose;
}

namespace sensor_msgs{
    template <class ContainerAllocator> struct LaserScan_;
    typedef LaserScan_<std::allocator<void> > LaserScan;
}

namespace mrpt
{
        namespace poses { class CPose3D; }
        namespace slam  { class CObservation2DRangeScan; }
}

namespace mrpt_bridge {

    bool convert(const sensor_msgs::LaserScan &_msg, const mrpt::poses::CPose3D &_pose, mrpt::slam::CObservation2DRangeScan &_obj);

    bool convert(const mrpt::slam::CObservation2DRangeScan &_obj, sensor_msgs::LaserScan &_msg);

    bool convert(const mrpt::slam::CObservation2DRangeScan &_obj, sensor_msgs::LaserScan &_msg, geometry_msgs::Pose &_pose);

} //namespace mrpt_bridge

#endif //MRPT_BRIDGE_LASER_SCAN_H