geometry.h

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/*
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#ifndef POSE_GRAPH_GEOMETRY_H
#define POSE_GRAPH_GEOMETRY_H

#include <Eigen3/Dense>
#include <iostream>
#include <geometry_msgs/Pose.h>
#include <geometry_msgs/Point32.h>
#include <geometry_msgs/Pose2D.h>
#include <sensor_msgs/LaserScan.h>

namespace pose_graph
{

using std::ostream;

typedef Eigen3::Matrix<double, 6, 6> PrecisionMatrix;

struct PoseConstraint
{
  PoseConstraint ();
  PoseConstraint (const Eigen3::Vector3d& translation, const Eigen3::Quaterniond& rotation);
  PoseConstraint (const Eigen3::Vector3d& translation, const Eigen3::Quaterniond& rotation, const PrecisionMatrix& precision);

  Eigen3::Vector3d translation;
  Eigen3::Quaterniond rotation;
  PrecisionMatrix precision;

  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};

ostream& operator<< (ostream& str, const PoseConstraint& constraint);

double length (const Eigen3::Vector3d& v);

double length (const PoseConstraint& constraint);

// Norm of a Point
double length (const geometry_msgs::Point& p);

geometry_msgs::Pose getPose (const PoseConstraint& c);

// Given a transform between two frames, get a PoseConstraint.
PoseConstraint makeConstraint (const Eigen3::Affine3d& trans, const Eigen3::Matrix<double, 6, 6>& prec);

// Get distance between two points
double euclideanDistance (const geometry_msgs::Point& p1, const geometry_msgs::Point& p2);

// Get distance between two poses using a multiplier for the angular part
double euclideanDistance (const geometry_msgs::Pose2D& p1, const geometry_msgs::Pose2D& p2,
                          const double rad_to_m=1.0);

// Transform between point32 and point
geometry_msgs::Point convertToPoint (const geometry_msgs::Point32& p);

// Barycenter of a scan
geometry_msgs::Point computeBarycenter (const sensor_msgs::LaserScan& scan);

PrecisionMatrix makePrecisionMatrix (const double x_prec, const double y_prec, const double theta_prec);

PrecisionMatrix makePrecisionMatrix (const double x_prec, const double y_prec, const double xy_prec,
                                     const double theta_prec);

} // namespace pose_graph

#endif // POSE_GRAPH_GEOMETRY_H