AttributedPoint.h

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#pragma once

#include <geometry_msgs/PoseWithCovariance.h>

namespace ASR
{


struct AttributedPoint {
    std::string objectType;
    geometry_msgs::Pose pose;

    AttributedPoint(std::string type, geometry_msgs::Pose  p)
    {
        objectType = type;
        pose=p;
    }

    AttributedPoint(std::string type, float point_x, float point_y, float point_z,
                                      float quaternion_w, float quaternion_x, float quaternion_y, float quaternion_z)
    {
        objectType = type;

        geometry_msgs::Point point;
        point.x = point_x;
        point.y = point_y;
        point.z = point_z;

        geometry_msgs::Quaternion q;
        q.w = quaternion_w;
        q.x = quaternion_x;
        q.y = quaternion_y;
        q.z = quaternion_z;

        pose = geometry_msgs::Pose();
        pose.position = point;
        pose.orientation = q;
    }
};

}