imu.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

/*---------------------------------------------------------------
        APPLICATION: mrpt_ros bridge
        FILE: imu.h
        AUTHOR: Raghavender Sahdev <raghavendersahdev@gmail.com>
  ---------------------------------------------------------------*/
#pragma once

#include <cstring>  // size_t
#include <sensor_msgs/Imu.h>
#include <mrpt/obs/CObservationIMU.h>
#include <geometry_msgs/Pose.h>
#include <geometry_msgs/Quaternion.h>

using namespace mrpt::obs;


namespace mrpt_bridge
{
namespace imu
{
bool ros2mrpt(const sensor_msgs::Imu& msg, CObservationIMU obj);

bool mrpt2ros(
        const CObservationIMU& obj, const std_msgs::Header& msg_header,
        sensor_msgs::Imu& msg);

}  // namespace imu
}  // namespace mrpt_bridge