pose.h

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#ifndef TUW_GEOMETRY_MSGS_POSE_H
#define TUW_GEOMETRY_MSGS_POSE_H
 
// ROS
#include <geometry_msgs/Pose.h>
#include <geometry_msgs/PoseStamped.h>
 
namespace tuw
{
namespace ros_msgs
{
class Pose;
typedef boost::shared_ptr<Pose> PosePtr;
typedef boost::shared_ptr<Pose const> PoseConstPtr;
 
class Pose : public geometry_msgs::Pose
{
public:
  Pose();
  Pose(double x, double y, double z, double roll, double pitch, double yaw);
  Pose &set(double x, double y, double z, double roll, double pitch, double yaw);
  Pose &setXYZ(double x, double y, double z);
  Pose &setOrientation(double x, double y, double z, double w);
  Pose &setRPY(double roll, double pitch, double yaw);
  geometry_msgs::PosePtr create();
};
};
void SetPositionXYZ(geometry_msgs::PosePtr &pose, double x, double y, double z);
void SetOrientation(geometry_msgs::PosePtr &pose, double x, double y, double z, double w);
void SetRPY(geometry_msgs::PosePtr &pose, double roll, double pitch, double yaw);
void Set(geometry_msgs::PosePtr &pose, double x, double y, double z, double roll, double pitch, double yaw);
void Set(geometry_msgs::PosePtr &des, const tuw::ros_msgs::Pose &src);
};
#endif  // TUW_GEOMETRY_MSGS_POSE_H