beacon.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

#pragma once

#include <geometry_msgs/Pose.h>
#include <mrpt/obs/CObservationBeaconRanges.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt_msgs/ObservationRangeBeacon.h>

#include <cstdint>
#include <string>

namespace mrpt_msgs_bridge
{
bool fromROS(
        const mrpt_msgs::ObservationRangeBeacon& _msg,
        const mrpt::poses::CPose3D& _pose,
        mrpt::obs::CObservationBeaconRanges& _obj);

bool toROS(
        const mrpt::obs::CObservationBeaconRanges& _obj,
        mrpt_msgs::ObservationRangeBeacon& _msg);

bool toROS(
        const mrpt::obs::CObservationBeaconRanges& _obj,
        mrpt_msgs::ObservationRangeBeacon& _msg, geometry_msgs::Pose& _pose);

}  // namespace mrpt_msgs_bridge