Orientation.h

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#ifndef RAIL_PICK_AND_PLACE_GRASPDB_ORIENTATION_H_
#define RAIL_PICK_AND_PLACE_GRASPDB_ORIENTATION_H_

// ROS
#include <geometry_msgs/Quaternion.h>
#include <tf2/LinearMath/Matrix3x3.h>
#include <tf2/LinearMath/Quaternion.h>

// C++ Standard Library
#include <string>

namespace rail
{
namespace pick_and_place
{
namespace graspdb
{

class Orientation
{
public:
  Orientation(const double x = 0, const double y = 0, const double z = 0, const double w = 0);

  Orientation(const geometry_msgs::Quaternion &quaternion);

  Orientation(const tf2::Quaternion &quaternion);

  void setX(const double x);

  double getX() const;

  void setY(const double y);

  double getY() const;

  void setZ(const double z);

  double getZ() const;

  void setW(const double w);

  double getW() const;

  geometry_msgs::Quaternion toROSQuaternionMessage() const;

  tf2::Quaternion toTF2Quaternion() const;

  tf2::Matrix3x3 toTF2Matrix3x3() const;

private:
  double x_, y_, z_, w_;
};

}
}
}

#endif