pose_cov_ops.h

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#ifndef POSE_COV_OPS_H_
#define POSE_COV_OPS_H_

#include <mrpt_bridge/pose.h>
#include <geometry_msgs/Pose.h>
#include <geometry_msgs/PoseWithCovariance.h>

namespace pose_cov_ops
{
        void compose(const geometry_msgs::Pose& a, const geometry_msgs::Pose& b, geometry_msgs::Pose& out);
        void compose(const geometry_msgs::PoseWithCovariance& a, const geometry_msgs::PoseWithCovariance& b, geometry_msgs::PoseWithCovariance& out);
        void compose(const geometry_msgs::PoseWithCovariance& a, const geometry_msgs::Pose& b, geometry_msgs::PoseWithCovariance& out);
        void compose(const geometry_msgs::Pose& a, const geometry_msgs::PoseWithCovariance& b, geometry_msgs::PoseWithCovariance& out);
        void inverseCompose(const geometry_msgs::Pose& a, const geometry_msgs::Pose& b, geometry_msgs::Pose& out);
        void inverseCompose(const geometry_msgs::PoseWithCovariance& a, const geometry_msgs::PoseWithCovariance& b, geometry_msgs::PoseWithCovariance& out);
        void inverseCompose(const geometry_msgs::PoseWithCovariance& a, const geometry_msgs::Pose& b, geometry_msgs::PoseWithCovariance& out);
        void inverseCompose(const geometry_msgs::Pose& a, const geometry_msgs::PoseWithCovariance& b, geometry_msgs::PoseWithCovariance& out);
}

#endif /* POSE_COV_OPS_H_ */