Pose.h

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#pragma once

// Global includes
#include <cmath>
#include <vector>

// Package includes
#include <Eigen/Core>
#include <Eigen/Geometry>

#include <boost/shared_ptr.hpp>

#include <asr_msgs/AsrObject.h>

#include <geometry_msgs/Pose.h>

#include <trainer/source/Object.h>

namespace ResourcesForPsm {
  
  class Pose {
  public:
    
    Pose();
    
    Pose(const asr_msgs::AsrObject pObject);
    
    Pose(const geometry_msgs::Pose pPose);
    
    Pose(const boost::shared_ptr<SceneModel::Object> pObject);
    
    ~Pose();
    
    void convertPoseIntoFrame(const boost::shared_ptr<Pose>& pFrame, boost::shared_ptr<Pose>& pResult);
    
    Eigen::Vector3d getPosition();
    
    Eigen::Quaternion<double> getOrientation();
    
  private:
    
    boost::shared_ptr<Eigen::Vector3d> mPosition;
    
    boost::shared_ptr<Eigen::Quaternion<double> > mOrientation;
  };
}