filter_utilities.h

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/*
 * Copyright (c) 2014, 2015, 2016, Charles River Analytics, Inc.
 * All rights reserved.
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 * modification, are permitted provided that the following conditions
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 *
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 * notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above
 * copyright notice, this list of conditions and the following
 * disclaimer in the documentation and/or other materials provided
 * with the distribution.
 * 3. Neither the name of the copyright holder nor the names of its
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 * from this software without specific prior written permission.
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#ifndef ROBOT_LOCALIZATION_FILTER_UTILITIES_H
#define ROBOT_LOCALIZATION_FILTER_UTILITIES_H

#include <Eigen/Dense>

#include <iomanip>
#include <iostream>
#include <string>
#include <vector>

#define FB_DEBUG(msg) if (getDebug()) { *debugStream_ << msg; }

// Handy methods for debug output
std::ostream& operator<<(std::ostream& os, const Eigen::MatrixXd &mat);
std::ostream& operator<<(std::ostream& os, const Eigen::VectorXd &vec);
std::ostream& operator<<(std::ostream& os, const std::vector<size_t> &vec);
std::ostream& operator<<(std::ostream& os, const std::vector<int> &vec);

namespace RobotLocalization
{
namespace FilterUtilities
{

  double clampRotation(double rotation);

  void appendPrefix(std::string tfPrefix, std::string &frameId);

}  // namespace FilterUtilities
}  // namespace RobotLocalization

#endif  // ROBOT_LOCALIZATION_FILTER_UTILITIES_H