reference_to_pose function

[jorgenfj]

reference_to_pose is templated for now, to avoid a dependency on vortex_msgs.
Can therefore be called like this:

pose = vortex::utils::ros_conversions::reference_to_pose(reference);

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 98.03%. Comparing base (c409297) to head (986c798).
⚠️ Report is 9 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main      #19      +/-   ##
==========================================
+ Coverage   97.86%   98.03%   +0.17%     
==========================================
  Files           4        5       +1     
  Lines         374      407      +33     
  Branches       72       87      +15     
==========================================
+ Hits          366      399      +33     
  Misses          4        4              
  Partials        4        4              

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Files with missing lines	Coverage Δ
include/vortex/utils/ros_conversions.hpp	100.00% <100.00%> (ø)

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[Andeshog]

Add some tests also and I will be very happy

[Andeshog]

Could use a simple concept to constrain the input type in a better way. Something like

template <typename T>
concept PoseLike = requires(const T& t) {
    { t.x }     -> std::convertible_to<double>;
    { t.y }     -> std::convertible_to<double>;
    { t.z }     -> std::convertible_to<double>;
    { t.roll }  -> std::convertible_to<double>;
    { t.pitch } -> std::convertible_to<double>;
    { t.yaw }   -> std::convertible_to<double>;
};

template <PoseLike T>
geometry_msgs::msg::Pose reference_to_pose(const T& ref) {
    geometry_msgs::msg::Pose pose;
    pose.position.x = ref.x;
    pose.position.y = ref.y;
    pose.position.z = ref.z;

    tf2::Quaternion q;
    q.setRPY(ref.roll, ref.pitch, ref.yaw);
    pose.orientation = tf2::toMsg(q);

    return pose;
}

[Andeshog]

Also, I would say it is not strictly necessary to use tf2 here anymore, since we are packing it in a function anyway (so it doesnt hurt if the function is longer and more verbose).

[jorgenfj]

Since this is purely a ros to ros conversion I don't see why we can't use available ros functions here.

[Andeshog]

You can, but why drag in another dependency just because. Also possible to create a separate function that converts Eigen::Quaternion to ros orientation, and then use that directly in reference_to_pose (with euler_to_quat). Also, it isnt really a strict ros to ros conversion, as T can also be Eta from utils here

[Andeshog]

VORTEX_UTILS_ROS_CONVERSIONS_HPP or something like that

[jorgenfj]

Add some tests also and I will be very happy
As it is now I feel that tests for this is overkill. The function is using another function that is already tested. Other than that it just assigns by matching variable names.

[Andeshog]

Add some tests also and I will be very happy
As it is now I feel that tests for this is overkill. The function is using another function that is already tested. Other than that it just assigns by matching variable names.

The thought was more to test that the template works with for instance Eta. Also, documentation 😁

[Andeshog]

lgtm, just make the test pass 🍇

[github-actions]

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