laser_scan.h

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#ifndef MRPT_BRIDGE_LASER_SCAN_H
#define MRPT_BRIDGE_LASER_SCAN_H

#include <stdint.h>
#include <string>

namespace std
{
template <class T>
class allocator;
}

namespace geometry_msgs
{
template <class ContainerAllocator>
struct Pose_;
typedef Pose_<std::allocator<void>> Pose;
}

namespace sensor_msgs
{
template <class ContainerAllocator>
struct LaserScan_;
typedef LaserScan_<std::allocator<void>> LaserScan;
}

namespace mrpt
{
namespace poses
{
class CPose3D;
}
}
#include <mrpt/version.h>
namespace mrpt
{
namespace obs
{
class CObservation2DRangeScan;
}
}

namespace mrpt_bridge
{
bool convert(
        const sensor_msgs::LaserScan& _msg, const mrpt::poses::CPose3D& _pose,
        mrpt::obs::CObservation2DRangeScan& _obj);

bool convert(
        const mrpt::obs::CObservation2DRangeScan& _obj,
        sensor_msgs::LaserScan& _msg);

bool convert(
        const mrpt::obs::CObservation2DRangeScan& _obj,
        sensor_msgs::LaserScan& _msg, geometry_msgs::Pose& _pose);

}  // namespace mrpt_bridge

#endif  // MRPT_BRIDGE_LASER_SCAN_H