PoseWithCovariance.hpp

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#ifndef BASE_SAMPLES_POSE_WITH_COVARIANCE_HPP
#define BASE_SAMPLES_POSE_WITH_COVARIANCE_HPP

#include <string>
#include <base/Time.hpp>
#include <base/TransformWithCovariance.hpp>
#include <base/samples/RigidBodyState.hpp>

namespace base { namespace samples {

class PoseWithCovariance
{
public:
    base::Time time;

    std::string frame_id;

    std::string object_frame_id;

    base::TransformWithCovariance transform;

public:
    PoseWithCovariance();

    explicit PoseWithCovariance(const base::TransformWithCovariance& transform);

    explicit PoseWithCovariance(const base::samples::RigidBodyState& rbs);

    PoseWithCovariance operator*(const PoseWithCovariance& pose) const;

    void setTransform(const base::TransformWithCovariance& transform);

    void setTransform(const Eigen::Affine3d& transform);

    const base::TransformWithCovariance& getTransformWithCovariance() const;

    Eigen::Affine3d getTransform() const;

    const base::TransformWithCovariance::Covariance& getCovariance() const;

    base::samples::RigidBodyState toRigidBodyState() const;
};

}}

#endif