conversions.hpp

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#ifndef NAV_2D_UTILS__CONVERSIONS_HPP_
#define NAV_2D_UTILS__CONVERSIONS_HPP_
 
#include <vector>
#include <string>
#include "geometry_msgs/msg/pose.hpp"
#include "geometry_msgs/msg/twist.hpp"
#include "nav_2d_msgs/msg/twist2_d.hpp"
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "nav_msgs/msg/path.hpp"
#include "rclcpp/rclcpp.hpp"
#include "tf2/convert.hpp"
 
namespace nav_2d_utils
{
geometry_msgs::msg::Twist twist2Dto3D(const nav_2d_msgs::msg::Twist2D & cmd_vel_2d);
nav_2d_msgs::msg::Twist2D twist3Dto2D(const geometry_msgs::msg::Twist & cmd_vel);
nav_msgs::msg::Path posesToPath(
  const std::vector<geometry_msgs::msg::Pose> & poses,
  const std::string & frame, const rclcpp::Time & stamp);
 
}  // namespace nav_2d_utils
 
#endif  // NAV_2D_UTILS__CONVERSIONS_HPP_