Pose.h
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00001 
00012 #ifndef SPATIAL_TEMPORAL_LEARNING_WORLDLIB_GEOMETRY_POSE_H_
00013 #define SPATIAL_TEMPORAL_LEARNING_WORLDLIB_GEOMETRY_POSE_H_
00014 
00015 // worldlib
00016 #include "Orientation.h"
00017 #include "Position.h"
00018 
00019 // ROS
00020 #include <geometry_msgs/Pose.h>
00021 #include <geometry_msgs/Transform.h>
00022 #include <tf2/LinearMath/Transform.h>
00023 
00024 namespace rail
00025 {
00026 namespace spatial_temporal_learning
00027 {
00028 namespace worldlib
00029 {
00030 namespace geometry
00031 {
00032 
00040 class Pose
00041 {
00042 public:
00051   Pose(const Position &position = Position(), const Orientation &orientation = Orientation());
00052 
00060   Pose(const geometry_msgs::Pose &pose);
00061 
00069   Pose(const geometry_msgs::Transform &tf);
00070 
00078   Pose(const tf2::Transform &tf);
00079 
00087   void setPosition(const Position &position);
00088 
00096   const Position &getPosition() const;
00097 
00105   Position &getPosition();
00106 
00114   void setOrientation(const Orientation &orientation);
00115 
00123   const Orientation &getOrientation() const;
00124 
00132   Orientation &getOrientation();
00133 
00139   geometry_msgs::Pose toROSPoseMessage() const;
00140 
00146   geometry_msgs::Transform toROSTransformMessage() const;
00147 
00153   tf2::Transform toTF2Transform() const;
00154 
00155 private:
00157   Position position_;
00159   Orientation orientation_;
00160 };
00161 
00162 }
00163 }
00164 }
00165 }
00166 
00167 #endif


worldlib
Author(s): Russell Toris
autogenerated on Thu Jun 6 2019 20:55:36