transform_util.h

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#ifndef TRANSFORM_UTIL_TRANSFORM_UTIL_H_
#define TRANSFORM_UTIL_TRANSFORM_UTIL_H_

#include <string>
#include <boost/array.hpp>

#include <tf/transform_datatypes.h>

namespace swri_transform_util
{
  tf::Transform GetRelativeTransform(
      double latitude,
      double longitude,
      double yaw,
      double reference_latitude,
      double reference_longitude,
      double reference_yaw);

  double GreatCircleDistance(
      double src_latitude,
      double src_longitude,
      double dst_latitude,
      double dst_longitude);

  double GreatCircleDistance(const tf::Vector3& src, const tf::Vector3& dst);

  double GetBearing(
      double source_latitude,
      double source_longitude,
      double destination_latitude,
      double destination_longitude);

  void GetMidpointLatLon(
      double latitude1,
      double longitude1,
      double latitude2,
      double longitude2,
      double& mid_latitude,
      double& mid_longitude);

  double GetHeading(double src_x, double src_y, double dst_x, double dst_y);

  double ToHeading(double yaw);

  double ToYaw(double heading);

  tf::Quaternion SnapToRightAngle(const tf::Quaternion& rotation);

  tf::Vector3 GetPrimaryAxis(const tf::Vector3& vector);

  bool IsRotation(tf::Matrix3x3 matrix);

  tf::Matrix3x3 GetUpperLeft(const boost::array<double, 36>& matrix);

  tf::Matrix3x3 GetLowerRight(const boost::array<double, 36>& matrix);

  tf::Matrix3x3 Get3x3Cov(const boost::array<double, 9>& matrix);

  void Set3x3Cov(const tf::Matrix3x3& matrix_in,
                          boost::array<double, 9>& matrix_out);
  void SetUpperLeft(
      const tf::Matrix3x3& sub_matrix,
      boost::array<double, 36>& matrix);

  void SetLowerRight(
      const tf::Matrix3x3& sub_matrix,
      boost::array<double, 36>& matrix);

  double LongitudeDegreesFromMeters(
    double latitude,
    double altitude,
    double arc_length);

  double LatitudeDegreesFromMeters(
    double altitude,
    double arc_length);

  std::string NormalizeFrameId(const std::string& frame_id);

  bool FrameIdsEqual(const std::string& frame1, const std::string& frame2);
}

#endif  // TRANSFORM_UTIL_TRANSFORM_UTIL_H_