utils.cpp

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
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#include <cart_local_planner/utils.h>
#include <boost/lexical_cast.hpp>

namespace cart_local_planner
{

using std::string;
using boost::lexical_cast;
namespace gm=geometry_msgs;

template <class T>
inline
string lc (const T& x)
{
  return boost::lexical_cast<string>(x);
}
           
string toString (const tf::Pose& pose)
{
  gm::Pose p;
  tf::poseTFToMsg(pose, p);
  return toString(p);
}

string toString (const gm::Pose& pose)
{
  return "(" + lc(pose.position.x) + ", " + lc(pose.position.y) + ", " + lc(tf::getYaw(pose.orientation)) + ")";
}



} // namespace cart_local_planner