Go to the documentation of this file.00001 #ifndef OBJECT_MSGS_TOOLS_OBJECTFUNCTIONS_H
00002 #define OBJECT_MSGS_TOOLS_OBJECTFUNCTIONS_H
00003
00004 #include <object_msgs/Object.h>
00005 #include <geometry_msgs/PoseStamped.h>
00006
00007 namespace object_msgs_tools {
00008
00016 class ObjectFunctions
00017 {
00018 public:
00019
00020 ObjectFunctions(){}
00021
00030 static bool getObjectPose(const object_msgs::Object& object, geometry_msgs::PoseStamped& pose);
00031
00032 private:
00033
00040 static bool getPoseFromFields(const std_msgs::Header& object_header, int idx,
00041 const std::vector<geometry_msgs::Pose>& poses,
00042 const geometry_msgs::Pose & origin,
00043 geometry_msgs::PoseStamped& pose);
00044
00052 static geometry_msgs::Point getAveragePointFrom(const std::vector<geometry_msgs::Pose>& poses);
00053 };
00054
00055 }
00056
00057 #endif // OBJECT_MSGS_TOOLS_OBJECTFUNCTIONS_H