position.h

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#ifndef _TRANSFORM_GRAPH_POSITION_H_
#define _TRANSFORM_GRAPH_POSITION_H_

#include "Eigen/Dense"
#include "geometry_msgs/Point.h"
#include "geometry_msgs/Vector3.h"
#include "pcl/point_types.h"
#include "tf/transform_datatypes.h"

namespace transform_graph {
class Position {
 public:
  Position();
  Position(double x, double y, double z);
  Position(const Eigen::Vector3d& v);
  Position(const geometry_msgs::Point& p);
  Position(const geometry_msgs::Vector3& v);
  Position(const pcl::PointXYZ& p);
  Position(const tf::Vector3& v);

  Eigen::Vector3d vector() const;

  geometry_msgs::Point point() const;

  geometry_msgs::Vector3 vector_msg() const;

  pcl::PointXYZ pcl_point() const;

  tf::Vector3 tf_vector3() const;

  double x() const;

  double y() const;

  double z() const;

 private:
  Eigen::Vector3d vector_;
};
}  // namespace transform_graph

#endif  // _TRANSFORM_GRAPH_POSITION_H_