ori_tool.h

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//
// Created by qiayuan on 8/13/20.
//
 
#pragma once
 
#include <geometry_msgs/Quaternion.h>
#include <tf2/LinearMath/Quaternion.h>
#include <eigen3/Eigen/Core>
 
void quatToRPY(const geometry_msgs::Quaternion& q, double& roll, double& pitch, double& yaw);
 
double yawFromQuat(const geometry_msgs::Quaternion& q);
 
tf2::Quaternion getAverageQuaternion(const std::vector<tf2::Quaternion>& quaternions,
                                     const std::vector<double>& weights);
 
tf2::Quaternion rotationMatrixToQuaternion(const Eigen::Map<Eigen::Matrix3d>& rot);