PoseInfoContainer.h

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//=================================================================================================
// Copyright (c) 2012, Stefan Kohlbrecher, TU Darmstadt
// All rights reserved.

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// modification, are permitted provided that the following conditions are met:
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//     * Redistributions in binary form must reproduce the above copyright
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//       group, TU Darmstadt nor the names of its contributors may be used to
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#ifndef POSE_INFO_CONTAINER_H__
#define POSE_INFO_CONTAINER_H__

#include <tf/transform_datatypes.h>
#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/PoseWithCovarianceStamped.h>

#include <Eigen/Core>

class PoseInfoContainer{
public:

  void update(const Eigen::Vector3f& slamPose, const Eigen::Matrix3f& slamCov, const ros::Time& stamp, const std::string& frame_id);

  const geometry_msgs::PoseStamped& getPoseStamped() { return stampedPose_; };
  const geometry_msgs::PoseWithCovarianceStamped& getPoseWithCovarianceStamped() { return covPose_; };
  const tf::Transform& getTfTransform() { return poseTransform_; };

protected:
  geometry_msgs::PoseStamped stampedPose_;
  geometry_msgs::PoseWithCovarianceStamped covPose_;
  tf::Transform poseTransform_;

};

#endif