pal_util.h

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/*
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 *  Copyright (c) 2012, PAL Robotics, S.L.
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 *
 * @file pal_util.h
 * @author Bence Magyar
 * @date March 2012
 * @version 0.1
 * @brief This collection includes functions used for image processing
 * and various conversion functions used in BLORT.
 * @namespace pal_blort
 */

#ifndef PAL_UTIL_H
#define PAL_UTIL_H

#include <opencv2/core/core.hpp>
#include <vector>
#include <string>
#include <geometry_msgs/Pose.h>
#include <blort/TomGine/tgPose.h>
#include <tf/transform_datatypes.h>

namespace blort_ros
{
    std::string addRoot(const std::string& obj, const std::string& root);

    geometry_msgs::Pose tgPose2RosPose(const TomGine::tgPose &pose);

    TomGine::tgPose rosPose2TgPose(const geometry_msgs::Pose &pose);

    tf::Transform rosPose2TfTransform(const geometry_msgs::Pose &pose);

    geometry_msgs::Pose tfTransform2RosPose(const tf::Transform &transform);

    geometry_msgs::Pose blortPosesToRosPose(geometry_msgs::Pose reference,
                                            geometry_msgs::Pose target);

    geometry_msgs::Pose poseDiff(geometry_msgs::Pose pose1, geometry_msgs::Pose pose2);

    bool poseValidate(geometry_msgs::Pose known_pose,
                      geometry_msgs::Pose pose_estimate,
                      geometry_msgs::Pose max_error);

    cv::Mat quaternionTo3x3cvMat(geometry_msgs::Quaternion quaternion);
}

#endif // PAL_UTIL_H