conversions_and_types.h

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#ifndef EBAND_CONVERSIONS_AND_TYPES_H_
#define EBAND_CONVERSIONS_AND_TYPES_H_

#include <ros/ros.h>

// msgs
#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/Pose.h>
#include <geometry_msgs/Pose2D.h>

// transforms
#include <angles/angles.h>
#include <tf/tf.h>
#include <tf/transform_listener.h>
#include <tf/transform_datatypes.h>

// costmap & geometry
#include <costmap_2d/costmap_2d_ros.h>


namespace eband_local_planner{


  // typedefs

  struct Bubble
  {
    geometry_msgs::PoseStamped center;
    double expansion;
  };

  enum AddAtPosition {add_front, add_back};

  // functions

  void PoseToPose2D(const geometry_msgs::Pose pose, geometry_msgs::Pose2D& pose2D);


  void Pose2DToPose(geometry_msgs::Pose& pose, const geometry_msgs::Pose2D pose2D);


  bool transformGlobalPlan(const tf::TransformListener& tf, const std::vector<geometry_msgs::PoseStamped>& global_plan, 
      costmap_2d::Costmap2DROS& costmap, const std::string& global_frame, 
      std::vector<geometry_msgs::PoseStamped>& transformed_plan, std::vector<int>& start_end_counts_from_end);

  double getCircumscribedRadius(costmap_2d::Costmap2DROS& costmap);

};
#endif