measurement_transformation.hpp

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// Copyright 2021 Apex.AI, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//    http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
// Co-developed by Tier IV, Inc. and Apex.AI, Inc.
 
 
#ifndef MEASUREMENT_CONVERSION__MEASUREMENT_TRANSFORMATION_HPP_
#define MEASUREMENT_CONVERSION__MEASUREMENT_TRANSFORMATION_HPP_
 
#include <measurement_conversion/eigen_utils.hpp>
#include <measurement_conversion/measurement_conversion.hpp>
#include <measurement_conversion/measurement_typedefs.hpp>
#include <measurement_conversion/visibility_control.hpp>
 
#include <Eigen/Geometry>
 
namespace autoware
{
namespace common
{
namespace state_estimation
{
 
template<typename MeasurementT>
MeasurementT transform_measurement(
  const MeasurementT &,
  const Eigen::Isometry3d &)
{
  static_assert(
    sizeof(MeasurementT) == 0,
    "Only specializations for transform_measurement() function are allowed!");
}
 
template<typename MeasurementT, typename MessageT>
MeasurementT message_to_transformed_measurement(
  const MessageT & msg,
  const Eigen::Isometry3d & tf__world__frame_id)
{
  const auto measurement = convert_to<MeasurementT>::from(msg);
  return transform_measurement(measurement, tf__world__frame_id);
}
 
 
// Doxygen is buggy when the parameters are repeated here, so they are omitted.
 
template<>
MEASUREMENT_CONVERSION_PUBLIC PoseMeasurementXYZ64 transform_measurement(
  const PoseMeasurementXYZ64 & measurement,
  const Eigen::Isometry3d & tf__world__frame_id);
 
template<>
MEASUREMENT_CONVERSION_PUBLIC Stamped<PoseMeasurementXYZ64> transform_measurement(
  const Stamped<PoseMeasurementXYZ64> & measurement,
  const Eigen::Isometry3d & tf__world__frame_id);
 
}  // namespace state_estimation
}  // namespace common
}  // namespace autoware
 
 
#endif  // MEASUREMENT_CONVERSION__MEASUREMENT_TRANSFORMATION_HPP_