vector3_ref.h

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#ifndef OPEN_WALKER_CORE_VECTOR3_REF_H
#define OPEN_WALKER_CORE_VECTOR3_REF_H

#include <ow_core/conversions.h>
#include <ow_core/vector_ref.h>

namespace ow_core
{
template <typename _Derived>
class Vector3Ref : public VectorRef<_Derived, 3>
{
public:
  typedef _Derived Derived;
  typedef VectorRef<Derived, 3> Base;

public:
  explicit Vector3Ref(Derived& ref, int startRow = 0, int startCol = 0) : Base(ref, startRow, startCol)
  {
  }

  using Base::operator=;

  void operator=(const tf::Vector3& x)
  {
    vector3TFToVector3Eigen(x, *this);
  }

  void operator=(const geometry_msgs::Vector3& x)
  {
    vector3MsgToEigenVector3(x, *this);
  }

  void operator=(const geometry_msgs::Point& x)
  {
    pointMsgToEigenVector3(x, *this);
  }

  operator tf::Vector3() const
  {
    tf::Vector3 x;
    vector3EigenToVector3TF(*this, x);
    return x;
  }

  operator geometry_msgs::Point() const
  {
    geometry_msgs::Point x;
    vector3EigenToPointMsg(*this, x);
    return x;
  }

  operator geometry_msgs::Vector3() const
  {
    geometry_msgs::Vector3 x;
    vector3EigenToVector3Msg(*this, x);
    return x;
  }

  tf::Vector3 toVectorTF() const
  {
    return static_cast<tf::Vector3>(*this);
  }

  geometry_msgs::Point toPointMsg() const
  {
    return static_cast<geometry_msgs::Point>(*this);
  }

  geometry_msgs::Vector3 toVector3Msg() const
  {
    return static_cast<geometry_msgs::Vector3>(*this);
  }

private:
  Vector3Ref();
};

}  // namespace ow_core

#endif  // OPEN_WALKER_CORE_VECTOR3_REF_H