ros_filter_utilities.cpp

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/*
 * Copyright (c) 2015, Charles River Analytics, Inc.
 * All rights reserved.
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 * modification, are permitted provided that the following conditions
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 *
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 * notice, this list of conditions and the following disclaimer.
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 * disclaimer in the documentation and/or other materials provided
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#include "robot_localization/ros_filter_utilities.h"
#include "robot_localization/filter_common.h"

std::ostream& operator<<(std::ostream& os, const tf::Vector3 &vec)
{
  os << "(" << std::setprecision(20) << vec.getX() << " " << vec.getY() << " " << vec.getZ() << ")\n";

  return os;
}

std::ostream& operator<<(std::ostream& os, const tf::Quaternion &quat)
{
  double roll, pitch, yaw;
  tf::Matrix3x3 orTmp(quat);
  orTmp.getRPY(roll, pitch, yaw);

  os << "(" << std::setprecision(20) << roll << ", " << pitch << ", " << yaw << ")\n";

  return os;
}

std::ostream& operator<<(std::ostream& os, const tf::Transform &trans)
{
  os << "Origin: " << trans.getOrigin() <<
        "Rotation (RPY): " << trans.getRotation();

  return os;
}

namespace RobotLocalization
{
  namespace RosFilterUtilities
  {
    void quatToRPY(const tf::Quaternion &quat, double &roll, double &pitch, double &yaw)
    {
      tf::Matrix3x3 orTmp(quat);
      orTmp.getRPY(roll, pitch, yaw);
    }

    void stateToTF(const Eigen::VectorXd &state, tf::Transform &stateTF)
    {
      stateTF.setOrigin(tf::Vector3(state(StateMemberX),
                                    state(StateMemberY),
                                    state(StateMemberZ)));
      tf::Quaternion quat;
      quat.setRPY(state(StateMemberRoll),
                  state(StateMemberPitch),
                  state(StateMemberYaw));

      stateTF.setRotation(quat);
    }

    void TFtoState(const tf::Transform &stateTF, Eigen::VectorXd &state)
    {
      state(StateMemberX) = stateTF.getOrigin().getX();
      state(StateMemberY) = stateTF.getOrigin().getY();
      state(StateMemberZ) = stateTF.getOrigin().getZ();
      quatToRPY(stateTF.getRotation(), state(StateMemberRoll), state(StateMemberPitch), state(StateMemberYaw));
    }
  }
}