landmark.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 |
   +------------------------------------------------------------------------+ */

/*
 * File: landmark.h
 * Author: Vladislav Tananaev
 *
 */

#pragma once

#include <cstdint>
#include <string>
#include <geometry_msgs/Pose.h>
#include <mrpt_msgs/ObservationRangeBearing.h>
#include <mrpt/obs/CObservationBearingRange.h>

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

bool toROS(
        const mrpt::obs::CObservationBearingRange& _obj,
        mrpt_msgs::ObservationRangeBearing& _msg);

bool toROS(
        const mrpt::obs::CObservationBearingRange& _obj,
        mrpt_msgs::ObservationRangeBearing& _msg, geometry_msgs::Pose& sensorPose);

}  // namespace mrpt_bridge