tf2_utils.hpp

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#pragma once
 
#include <geometry_msgs/Quaternion.h>
#include <tf2/LinearMath/Quaternion.h>
 
namespace cras
{
 
void getRPY(const ::tf2::Quaternion& quat, double& roll, double& pitch, double& yaw);
 
void getRPY(const ::geometry_msgs::Quaternion& quat, double& roll, double& pitch, double& yaw);
 
double getRoll(const ::tf2::Quaternion& quat);
 
double getRoll(const ::geometry_msgs::Quaternion& quat);
 
double getPitch(const ::tf2::Quaternion& quat);
 
double getPitch(const ::geometry_msgs::Quaternion& quat);
 
double getYaw(const ::tf2::Quaternion& quat);
 
double getYaw(const ::geometry_msgs::Quaternion& quat);
 
}