tf2_eigen.hpp

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// Copyright 2024 Ekumen, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#ifndef BELUGA_ROS_TF2_EIGEN_HPP
#define BELUGA_ROS_TF2_EIGEN_HPP
 
#if BELUGA_ROS_VERSION == 2
#include <tf2_eigen/tf2_eigen.hpp>
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
#elif BELUGA_ROS_VERSION == 1
#include <tf2_eigen/tf2_eigen.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
#else
#error BELUGA_ROS_VERSION is not defined or invalid
#endif
 
#include <beluga_ros/messages.hpp>
 
#include <Eigen/Core>
 
namespace tf2 {
 
 
template <class Scalar>
inline beluga_ros::msg::Point toMsg(const Eigen::Matrix<Scalar, 2, 1>& in) {
  beluga_ros::msg::Point out;
  out.x = static_cast<double>(in.x());
  out.y = static_cast<double>(in.y());
  return out;
}
 
}  // namespace tf2
 
#endif  // BELUGA_ROS_TF2_EIGEN_HPP