pose.h

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#ifndef MRPT_BRIDGE_POSE_H
#define MRPT_BRIDGE_POSE_H


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

namespace tf{
    class Transform;
    class Matrix3x3;
}

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

namespace mrpt{
namespace math{
    template<class T> class CQuaternion;
    template <typename T,size_t NROWS,size_t NCOLS> class CMatrixFixedNumeric;
    typedef CMatrixFixedNumeric<double,3,3> CMatrixDouble33;
}
namespace poses{
        class CPose2D;
        class CPose3D;
        class CPosePDFGaussian;
        class CPose3DPDFGaussian;
        typedef math::CQuaternion<double> CQuaternionDouble;
    }
}

namespace mrpt_bridge
{
    mrpt::math::CMatrixDouble33& convert( const tf::Matrix3x3& _src, mrpt::math::CMatrixDouble33& _des);

    tf::Matrix3x3& convert( const mrpt::math::CMatrixDouble33& _src, tf::Matrix3x3& _des);

    tf::Transform& convert( const mrpt::poses::CPose3D& _src, tf::Transform&  _des);
    mrpt::poses::CPose3D& convert( const tf::Transform& _src, mrpt::poses::CPose3D& _des);
    
    geometry_msgs::Pose&  convert( const mrpt::poses::CPose3D& _src, geometry_msgs::Pose& _des);

    geometry_msgs::Pose& convert( const mrpt::poses::CPose2D& _src, geometry_msgs::Pose& _des);

    geometry_msgs::PoseWithCovariance& convert( const mrpt::poses::CPose3DPDFGaussian& _src, geometry_msgs::PoseWithCovariance& _des);

    tf::Transform& convert( const mrpt::poses::CPose3DPDFGaussian& _src, tf::Transform&);

    geometry_msgs::PoseWithCovariance& convert( const mrpt::poses::CPosePDFGaussian& _src, geometry_msgs::PoseWithCovariance& _des);

    geometry_msgs::Quaternion& convert(  const mrpt::poses::CQuaternionDouble& _src, geometry_msgs::Quaternion& _des);

    mrpt::poses::CPose2D& convert(const geometry_msgs::Pose& _src, mrpt::poses::CPose2D& _des);

    mrpt::poses::CPose3D& convert( const geometry_msgs::Pose& _src, mrpt::poses::CPose3D& _des);

    mrpt::poses::CPose3DPDFGaussian& convert( const geometry_msgs::PoseWithCovariance& _src, mrpt::poses::CPose3DPDFGaussian& _des);

    mrpt::poses::CPosePDFGaussian& convert( const geometry_msgs::PoseWithCovariance& _src, mrpt::poses::CPosePDFGaussian& _des);

    mrpt::poses::CQuaternionDouble& convert( const geometry_msgs::Quaternion& _src, mrpt::poses::CQuaternionDouble& _des);

}

#endif /* MRPT_BRIDGE_POSE_H */