Pose.h

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#ifndef RAIL_PICK_AND_PLACE_GRASPDB_POSE_H_
#define RAIL_PICK_AND_PLACE_GRASPDB_POSE_H_

// graspdb
#include "Orientation.h"
#include "Position.h"

// ROS
#include <geometry_msgs/Pose.h>
#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/PoseWithCovariance.h>
#include <geometry_msgs/PoseWithCovarianceStamped.h>
#include <geometry_msgs/Transform.h>
#include <geometry_msgs/TransformStamped.h>
#include <tf2/LinearMath/Transform.h>

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

namespace rail
{
namespace pick_and_place
{
namespace graspdb
{

class Pose
{
public:
  Pose(const std::string &robot_fixed_frame_id = "", const Position &position = Position(),
      const Orientation &orientation = Orientation());

  Pose(const std::string &robot_fixed_frame_id, const geometry_msgs::Pose &pose);

  Pose(const geometry_msgs::PoseStamped &pose);

  Pose(const std::string &robot_fixed_frame_id, const geometry_msgs::PoseWithCovariance &pose);

  Pose(const geometry_msgs::PoseWithCovarianceStamped &pose);

  Pose(const std::string &robot_fixed_frame_id, const geometry_msgs::Transform &tf);

  Pose(const geometry_msgs::TransformStamped &tf);

  Pose(const std::string &robot_fixed_frame_id, const tf2::Transform &tf);

  void setRobotFixedFrameID(const std::string &robot_fixed_frame_id);

  const std::string &getRobotFixedFrameID() const;

  void setPosition(const Position &position);

  const Position &getPosition() const;

  Position &getPosition();

  void setOrientation(const Orientation &orientation);

  const Orientation &getOrientation() const;

  Orientation &getOrientation();

  geometry_msgs::Pose toROSPoseMessage() const;

  geometry_msgs::PoseStamped toROSPoseStampedMessage() const;

  geometry_msgs::Transform toROSTransformMessage() const;

  tf2::Transform toTF2Transform() const;

private:
  std::string robot_fixed_frame_id_;
  Position position_;
  Orientation orientation_;
};

}
}
}

#endif