string_utils/tf2.hpp

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#pragma once
 
#include <string>
 
#include <tf2/LinearMath/Vector3.h>
#include <tf2/LinearMath/Quaternion.h>
#include <tf2/LinearMath/Matrix3x3.h>
#include <tf2/LinearMath/Transform.h>
 
namespace cras
{
 
inline ::std::string to_string(const ::tf2::Vector3& value)
{
  return ::cras::format("[%.6f, %.6f, %.6f]", value.getX(), value.getY(), value.getZ());
}
 
inline ::std::string to_string(const ::tf2::Quaternion& value)
{
  ::tf2::Matrix3x3 m;
  m.setRotation(value);
  double roll, pitch, yaw;
  m.getRPY(roll, pitch, yaw);
  return ::cras::format("[x=%.6f, y=%.6f, z=%.6f, w=%.6f (r=%.3f, p=%.3f, y=%.3f)]",
                        value.getX(), value.getY(), value.getZ(), value.getW(), roll, pitch, yaw);
}
 
inline ::std::string to_string(const ::tf2::Matrix3x3& value)
{
  return ::cras::format("[[%.6f, %.6f, %.6f]; [%.6f, %.6f, %.6f]; [%.6f, %.6f, %.6f]]",
                        value.getRow(0).getX(), value.getRow(0).getY(), value.getRow(0).getZ(),
                        value.getRow(1).getX(), value.getRow(1).getY(), value.getRow(1).getZ(),
                        value.getRow(2).getX(), value.getRow(2).getY(), value.getRow(2).getZ());
}
 
inline ::std::string to_string(const ::tf2::Transform& value)
{
  return "Transform(t=" + ::cras::to_string(value.getOrigin()) + ", r=" +
    ::cras::to_string(value.getRotation()) + ")";
}
 
}