mapping.h

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#ifndef MAPPING_H
#define MAPPING_H

#define PCL_NO_PRECOMPILE

#include <pcl/point_cloud.h>
#include <pcl/point_types.h>

#include <Eigen/Core>
#include <Eigen/Dense>
#include <vector>

#include "toposens_msgs/TsPoint.h"
#include "toposens_msgs/TsScan.h"

using namespace Eigen;

namespace toposens_pointcloud
{
typedef pcl::PointCloud<pcl::PointXYZINormal> XYZINCloud;

class Mapping
{
public:
  Mapping() = default;

  void doTransform(pcl::PointXYZINormal &pt, Vector3f translation, Vector4f quaternion);

  pcl::PointXYZINormal convertToXYZINormal(toposens_msgs::TsPoint i);
};

}  // namespace toposens_pointcloud

#endif