ros_filter_utilities.h

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/*
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#ifndef ROBOT_LOCALIZATION_ROS_FILTER_UTILITIES_H
#define ROBOT_LOCALIZATION_ROS_FILTER_UTILITIES_H

#include <tf2/LinearMath/Quaternion.h>
#include <tf2/LinearMath/Transform.h>
#include <tf2_ros/buffer.h>

#include <Eigen/Dense>

#include <iomanip>
#include <iostream>
#include <string>
#include <vector>

#define RF_DEBUG(msg) if (filter_.getDebug()) { debugStream_ << msg; }

// Handy methods for debug output
std::ostream& operator<<(std::ostream& os, const tf2::Vector3 &vec);
std::ostream& operator<<(std::ostream& os, const tf2::Quaternion &quat);
std::ostream& operator<<(std::ostream& os, const tf2::Transform &trans);
std::ostream& operator<<(std::ostream& os, const std::vector<double> &vec);

namespace RobotLocalization
{
namespace RosFilterUtilities
{

double getYaw(const tf2::Quaternion quat);

bool lookupTransformSafe(const tf2_ros::Buffer &buffer,
                         const std::string &targetFrame,
                         const std::string &sourceFrame,
                         const ros::Time &time,
                         const ros::Duration &timeout,
                         tf2::Transform &targetFrameTrans);

bool lookupTransformSafe(const tf2_ros::Buffer &buffer,
                         const std::string &targetFrame,
                         const std::string &sourceFrame,
                         const ros::Time &time,
                         tf2::Transform &targetFrameTrans);

void quatToRPY(const tf2::Quaternion &quat, double &roll, double &pitch, double &yaw);

void stateToTF(const Eigen::VectorXd &state, tf2::Transform &stateTF);

void TFtoState(const tf2::Transform &stateTF, Eigen::VectorXd &state);

}  // namespace RosFilterUtilities
}  // namespace RobotLocalization

#endif  // ROBOT_LOCALIZATION_ROS_FILTER_UTILITIES_H