tf2_utils.hpp

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#pragma once

#include <geometry_msgs/Quaternion.h>
#include <tf2/LinearMath/Quaternion.h>

namespace cras
{

void getRPY(const ::tf2::Quaternion& quat, double& roll, double& pitch, double& yaw);

void getRPY(const ::geometry_msgs::Quaternion& quat, double& roll, double& pitch, double& yaw);

double getRoll(const ::tf2::Quaternion& quat);

double getRoll(const ::geometry_msgs::Quaternion& quat);

double getPitch(const ::tf2::Quaternion& quat);

double getPitch(const ::geometry_msgs::Quaternion& quat);

double getYaw(const ::tf2::Quaternion& quat);

double getYaw(const ::geometry_msgs::Quaternion& quat);

}