pose_graph_message.h

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
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#ifndef POSE_GRAPH_POSE_GRAPH_MESSAGE_H
#define POSE_GRAPH_POSE_GRAPH_MESSAGE_H

#include <pose_graph/pose_graph.h>
#include <pose_graph/PoseGraphMessage.h>
#include <pose_graph/PoseGraphDiff.h>
#include <string>


namespace pose_graph
{

using std::string;


PoseGraphMessage poseGraphToRos (const PoseGraph& g);

PoseGraph poseGraphFromRos (const PoseGraphMessage& g);

void writeToFile (const PoseGraph& g, const string& filename);

PoseGraph readFromFile (const string& filename);
  
PoseWithPrecision constraintToRos (const PoseConstraint& constraint);

PoseConstraint constraintFromRos (const PoseWithPrecision& m);

void applyDiff (PoseGraph* g, const PoseGraphDiff& m);

PoseGraphDiff composeDiffs (const std::vector<PoseGraphDiff::ConstPtr>& diffs);

} // namespace pose_graph

#endif // POSE_GRAPH_POSE_GRAPH_MESSAGE_H