pose_utilities.h

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#pragma once

#include <tf/transform_datatypes.h>
#include <geometry_msgs/PoseStamped.h>
#include <string>

#include "nxLib.h"

bool poseIsValid(tf::Pose const& transform);

void writePoseToNxLib(tf::Pose const& pose, NxLibItem const& node);

tf::Pose poseFromNxLib(NxLibItem const& node);
tf::Stamped<tf::Pose> poseFromNxLib(NxLibItem const& node, ros::Time const& timestamp, std::string const& frame);

tf::StampedTransform transformFromPose(geometry_msgs::PoseStamped const& pose, std::string const& childFrame);