ros_filter_utilities.h

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/*
 * Copyright (c) 2015, Charles River Analytics, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 * notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above
 * copyright notice, this list of conditions and the following
 * disclaimer in the documentation and/or other materials provided
 * with the distribution.
 * 3. Neither the name of the copyright holder nor the names of its
 * contributors may be used to endorse or promote products derived
 * from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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#ifndef RobotLocalization_RosFilterUtilities_h
#define RobotLocalization_RosFilterUtilities_h

#include <tf/tf.h>

#include <Eigen/Dense>

#include <iostream>
#include <iomanip>

#define RF_DEBUG(msg) if(filter_.getDebug()) { debugStream_ << msg; }

// Handy methods for debug output
std::ostream& operator<<(std::ostream& os, const tf::Vector3 &vec);
std::ostream& operator<<(std::ostream& os, const tf::Quaternion &quat);
std::ostream& operator<<(std::ostream& os, const tf::Transform &trans);

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

    void stateToTF(const Eigen::VectorXd &state, tf::Transform &stateTF);

    void TFtoState(const tf::Transform &stateTF, Eigen::VectorXd &state);
  }
}

#endif