Moved utility function to message conversion utilities

Author: S-Dafarra

devices/YarpRobotLoggerDevice/include/BipedalLocomotion/MessageConversionUtilities.h

@@ -13,6 +13,8 @@
 #include <trintrin/msgs/WearableTargets.h>
 #include <trintrin/msgs/WearableData.h>
 
+#include <Eigen/Core>
+
 #include <string>
 
 namespace BipedalLocomotion
@@ -86,6 +88,14 @@ void convertToVectorsCollection(const trintrin::msgs::WearableData& message,
                                 const std::string& prefix,
                                 BipedalLocomotion::YarpUtilities::VectorsCollection& collection);
 
+/**
+ * @brief Convert a trintrin VectorXYZ message to an Eigen::Vector3d.
+ *
+ * @param vec The input VectorXYZ message to be converted.
+ * @return Eigen::Vector3d The converted 3D vector.
+ */
+Eigen::Vector3d trintrinVectorXYZToVector3(const trintrin::msgs::VectorXYZ& vec);
+
 }
 
 #endif // BIPEDAL_LOCOMOTION_FRAMEWORK_YARP_ROBOT_LOGGER_DEVICE_MESSAGE_CONVERSION_UTILITIES_H

devices/YarpRobotLoggerDevice/src/MessageConversionUtilities.cpp

@@ -428,3 +428,12 @@ void BipedalLocomotion::convertToVectorsCollection(
                                                            vsjoint.data.acceleration.z};
     }
 }
+
+Eigen::Vector3d BipedalLocomotion::trintrinVectorXYZToVector3(const trintrin::msgs::VectorXYZ& vec)
+{
+    Eigen::Vector3d eigenVec;
+    eigenVec(0) = vec.x;
+    eigenVec(1) = vec.y;
+    eigenVec(2) = vec.z;
+    return eigenVec;
+}

devices/YarpRobotLoggerDevice/src/YarpRobotLoggerDevice.cpp

@@ -82,15 +82,6 @@ void findAndReplaceAll(std::string& data,
     }
 }
 
-Eigen::Vector3d trintrinVectorXYZToVector3(const trintrin::msgs::VectorXYZ& vec)
-{
-    Eigen::Vector3d eigenVec;
-    eigenVec(0) = vec.x;
-    eigenVec(1) = vec.y;
-    eigenVec(2) = vec.z;
-    return eigenVec;
-}
-
 bool YarpRobotLoggerDevice::VectorsCollectionSignal::connect()
 {
     return client.connect();