quaternion_operation.h

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#ifndef QUATERNION_OPERATION_QUATERNION_OPERATION_H_INCLUDED
#define QUATERNION_OPERATION_QUATERNION_OPERATION_H_INCLUDED

//headers in ROS
#include <geometry_msgs/Quaternion.h>
#include <geometry_msgs/Vector3.h>
#include <tf2/LinearMath/Matrix3x3.h>

//headers in Eigen
#define EIGEN_MPL2_ONLY
#include <Eigen/Core>
#include <Eigen/Geometry>

geometry_msgs::Quaternion operator+(geometry_msgs::Quaternion quat1,geometry_msgs::Quaternion quat2);

geometry_msgs::Quaternion operator*(geometry_msgs::Quaternion quat1,geometry_msgs::Quaternion quat2);

namespace quaternion_operation
{
    geometry_msgs::Quaternion convertEulerAngleToQuaternion(geometry_msgs::Vector3 euler);
    
    Eigen::Matrix3d getRotationMatrix(geometry_msgs::Quaternion quat);

    geometry_msgs::Vector3 convertQuaternionToEulerAngle(geometry_msgs::Quaternion quat);

    bool equals(double a,double b);

    bool equals(geometry_msgs::Quaternion quat1,geometry_msgs::Quaternion quat2);

    Eigen::MatrixXd convertToEigenMatrix(geometry_msgs::Quaternion quat);

    geometry_msgs::Quaternion conjugate(geometry_msgs::Quaternion quat1);

    geometry_msgs::Quaternion rotation(geometry_msgs::Quaternion from,geometry_msgs::Quaternion rotation);

    geometry_msgs::Quaternion getRotation(geometry_msgs::Quaternion from,geometry_msgs::Quaternion to);

    geometry_msgs::Quaternion slerp(geometry_msgs::Quaternion quat1,geometry_msgs::Quaternion quat2,double t);
}

#endif  //QUATERNION_OPERATION_QUATERNION_OPERATION_H_INCLUDED