Program Listing for File landmark.hpp
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/* +------------------------------------------------------------------------+
| mrpt_navigation |
| |
| Copyright (c) 2014-2024, Individual contributors, see commit authors |
| See: https://github.com/mrpt-ros-pkg/mrpt_navigation |
| All rights reserved. Released under BSD 3-Clause license. See LICENSE |
+------------------------------------------------------------------------+ */
/*
* File: landmark.h
* Author: Vladislav Tananaev
*
*/
#pragma once
#include <mrpt/obs/CObservationBearingRange.h>
#include <cstdint>
#include <geometry_msgs/msg/pose.hpp>
#include <mrpt_msgs/msg/observation_range_bearing.hpp>
#include <string>
namespace mrpt_msgs_bridge
{
bool fromROS(
const mrpt_msgs::msg::ObservationRangeBearing& _msg,
const mrpt::poses::CPose3D& _pose,
mrpt::obs::CObservationBearingRange& _obj);
bool toROS(
const mrpt::obs::CObservationBearingRange& _obj,
mrpt_msgs::msg::ObservationRangeBearing& _msg);
bool toROS(
const mrpt::obs::CObservationBearingRange& _obj,
mrpt_msgs::msg::ObservationRangeBearing& _msg,
geometry_msgs::msg::Pose& sensorPose);
} // namespace mrpt_msgs_bridge