Position.h

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#ifndef RAIL_PICK_AND_PLACE_GRASPDB_POSITION_H_
#define RAIL_PICK_AND_PLACE_GRASPDB_POSITION_H_

// ROS
#include <geometry_msgs/Point.h>
#include <geometry_msgs/Vector3.h>
#include <tf2/LinearMath/Vector3.h>

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

namespace rail
{
namespace pick_and_place
{
namespace graspdb
{

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

  Position(const geometry_msgs::Point &point);

  Position(const geometry_msgs::Vector3 &v);

  Position(const tf2::Vector3 &v);

  void setX(const double x);

  double getX() const;

  void setY(const double y);

  double getY() const;

  void setZ(const double z);

  double getZ() const;

  geometry_msgs::Point toROSPointMessage() const;

  geometry_msgs::Vector3 toROSVector3Message() const;

  tf2::Vector3 toTF2Vector3() const;

private:
  double x_, y_, z_;
};

}
}
}

#endif