pose_util.cpp

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/*
 * Software License Agreement (Modified BSD License)
 *
 *  Copyright (c) 2012, PAL Robotics, S.L.
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#include <blort_ros/pose_util.h>

namespace pal_vision_util
{
    tf::Transform rosPose2TfTransform(const geometry_msgs::Pose &pose)
    {
        tf::Transform result;
        result.setOrigin(tf::Vector3(pose.position.x,
                                     pose.position.y,
                                     pose.position.z));
        result.setRotation(tf::Quaternion(pose.orientation.x,
                                          pose.orientation.y,
                                          pose.orientation.z,
                                          pose.orientation.w
                                          ));
        return result;
    }

    geometry_msgs::Pose tfTransform2RosPose(const tf::Transform &transform)
    {
        geometry_msgs::Pose result;
        const tf::Vector3 position = transform.getOrigin();
        const tf::Quaternion orientation = transform.getRotation();
        result.position.x = position.x();
        result.position.y = position.y();
        result.position.z = position.z();
        result.orientation.x = orientation.x();
        result.orientation.y = orientation.y();
        result.orientation.z = orientation.z();
        result.orientation.w = orientation.w();

        return result;
    }

    geometry_msgs::Pose blortPosesToRosPose(geometry_msgs::Pose reference,
                                            geometry_msgs::Pose target)
    {
        const tf::Transform blort_reference_frame =
                pal_vision_util::rosPose2TfTransform(reference);
        const tf::Transform blort_target_pose =
                pal_vision_util::rosPose2TfTransform(target);

        return pal_vision_util::tfTransform2RosPose(blort_reference_frame.inverse()*blort_target_pose);
    }
}