conversions.py

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# Copyright (c) 2013, Oregon State University
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# Author Dan Lazewatsky/lazewatd@engr.orst.edu

import roslib; roslib.load_manifest('head_pose_estimation')
import rospy
from geometry_msgs.msg import PoseStamped, Pose, Point, Quaternion 
from tf.transformations import euler_from_quaternion, quaternion_from_euler
import numpy as np


def pose_quat_to_euler(pose_msg):
        return np.concatenate([
                [
                        pose_msg.pose.position.x,
                        pose_msg.pose.position.y,
                        pose_msg.pose.position.z
                ],
                euler_from_quaternion([
                        pose_msg.pose.orientation.x,
                        pose_msg.pose.orientation.y,
                        pose_msg.pose.orientation.z,
                        pose_msg.pose.orientation.w
            ])])
        
def pose_euler_to_quat(pose):
        return Pose(
                Point(*pose[:3]),
                Quaternion(*(quaternion_from_euler(*pose[3:])))
          )