eigen_utils.h

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 * Author: Mario Prats
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#ifndef EIGEN_UTILS_H
#define EIGEN_UTILS_H

#include <Eigen/Core>
#include <Eigen/Geometry>
#include <tf/transform_listener.h>

namespace eigen_utils {

void pseudoinverse(const Eigen::MatrixXd &M, Eigen::MatrixXd &Minv, double tolerance = 1.e-06);

Eigen::MatrixXd pseudoinverse(const Eigen::MatrixXd &M, double tolerance = 1.e-06);

void transformToPoseVector(const Eigen::Affine3d &M, Eigen::VectorXd &pose);

Eigen::VectorXd transformToPoseVector(const Eigen::Affine3d &M);

Eigen::Affine3d UThetaToAffine3d(const Eigen::Vector3d &u);

Eigen::Affine3d direct_exponential_map(const Eigen::VectorXd &v, double delta_t);

bool getTransform(const tf::TransformListener &listener, const std::string &target, const std::string source, Eigen::Affine3d &tMs,
                  const ros::Time &timestamp = ros::Time::now(), const ros::Duration &timeout = ros::Duration(5.0));


} // namespace

#endif