Feat/pose type #20
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Feat/pose type #20
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Codecov Report✅ All modified and coverable lines are covered by tests. Additional details and impacted files@@ Coverage Diff @@
## main #20 +/- ##
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+ Coverage 98.03% 98.11% +0.08%
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Files 5 5
Lines 407 425 +18
Branches 87 97 +10
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+ Hits 399 417 +18
Misses 4 4
Partials 4 4
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Andeshog
reviewed
Dec 10, 2025
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+201
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| template <typename T> | ||
| concept ROSPoseLike = | ||
| same_bare_as<T, geometry_msgs::msg::Pose> || | ||
| same_bare_as<T, geometry_msgs::msg::PoseArray> || | ||
| same_bare_as<T, geometry_msgs::msg::PoseStamped> || | ||
| same_bare_as<T, geometry_msgs::msg::PoseWithCovarianceStamped>; |
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Why not just have one function that converts from Pose to Eigen::Matrix<double, 6, 1>? All of the types include Pose, so it will be pretty straightforward to use on them anyway 🤷♂️
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Because I have a test node I'm working on where the pose subscriber callback function is templated so the function call becomes uniform for all pose types:
template <ValidPoseMsg MsgT>
void IPDAPoseFilteringNode::pose_callback(
const typename MsgT::ConstSharedPtr& msg) {
Measurements measurements = vortex::utils::ros_conversions::ros_to_eigen6d(*msg);Where measurements defined:
using Measurements = Eigen::Matrix<double, 6, Eigen::Dynamic>;
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Util function to convert from ros2 pose message types to Eigen::Matrix<double, 6, Eigen::Dynamic> representing orientations as Euler/RPY.
Also added tests🤓