message_helper.h

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#ifndef IMU_FILTER_MESSAGE_HELPER_H
#define IMU_FILTER_MESSAGE_HELPER_H

#include <Eigen/Eigen>
#include <Eigen/Geometry>

#include <boost/array.hpp>

#include <sensor_msgs/Imu.h>

namespace imu_filter 
{
        //* General helper functions for message conversions and other conversion
        namespace message_helper
        {
                template<typename T, size_t r, size_t c>
                static inline void matrixPtrToEigen( const boost::array<T, r*c> & matPtr, Eigen::Matrix<T, r, c> & mat )
                {
                        for( size_t row = 0; row < r; row++ )
                                for( size_t col = 0; col < c; col++ )
                                        mat( row, col ) = matPtr[ row * c + col ];
                }

                static inline void quaternionFromImuMsg( const sensor_msgs::Imu::ConstPtr & msg, Eigen::Quaterniond & q )
                {
                        q.x() = msg->orientation.x;
                        q.y() = msg->orientation.y;
                        q.z() = msg->orientation.z;
                        q.w() = msg->orientation.w;
                }       

                static inline void angularRateFromImuMsg( const sensor_msgs::Imu::ConstPtr & msg, Eigen::Vector3d & v )
                {
                        v.x() = msg->angular_velocity.x;
                        v.y() = msg->angular_velocity.y;
                        v.z() = msg->angular_velocity.z;
                }

                static inline void linearAccelerationFromImuMsg( const sensor_msgs::Imu::ConstPtr & msg, Eigen::Vector3d & v )
                {
                        v.x() = msg->linear_acceleration.x;
                        v.y() = msg->linear_acceleration.y;
                        v.z() = msg->linear_acceleration.z;
                }

                static inline void quaternionToMsg( const Eigen::Quaterniond & q, geometry_msgs::Quaternion & msg )
                {
                        msg.x = q.x();
                        msg.y = q.y();
                        msg.z = q.z();
                        msg.w = q.w();
                }

                static inline void vec3ToMsg( const Eigen::Vector3d & v, geometry_msgs::Vector3 & msg )
                {
                        msg.x = v.x();
                        msg.y = v.y();
                        msg.z = v.z();
                }

                static inline void eigenPose2Msg( const Eigen::Affine3d & pose, geometry_msgs::PoseStamped & msg  )
                {
                        Eigen::Quaterniond q;
                        q = pose.rotation();
                        msg.pose.orientation.x = q.x();
                        msg.pose.orientation.y = q.y();
                        msg.pose.orientation.z = q.z();
                        msg.pose.orientation.w = q.w();
                        msg.pose.position.x = pose.translation().x();
                        msg.pose.position.y = pose.translation().y();
                        msg.pose.position.z = pose.translation().z();           
                }
        }
}

#endif