/*
 * Copyright (c) 2009, Willow Garage, Inc.
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#ifndef CONVERSIONS_TF_EIGEN_H
#define CONVERSIONS_TF_EIGEN_H

#include "tf/transform_datatypes.h"
#include "Eigen/Array"
#include "Eigen/Geometry"

namespace tf {

/// Converts a tf Vector3 into an Eigen Vector3d
void VectorTFToEigen(const tf::Vector3& t, Eigen::Vector3d& k);

/// Converts an Eigen Vector3d into a tf Vector3
void VectorEigenToTF(const Eigen::Vector3d& k, tf::Vector3& t);

/// Converts a tf Quaternion into an Eigen Quaternion
void RotationTFToEigen(const tf::Quaternion& t, Eigen::Quaterniond& k);

/// Converts an Eigen Quaternion into a tf Quaternion
void RotationEigenToTF(const Eigen::Quaterniond& k, tf::Quaternion& t);

/// Converts a tf Transform into an Eigen Transform3d
void TransformTFToEigen(const tf::Transform &t, Eigen::Transform3d &k);

/// Converts an Eigen Transform3d into a tf Transform
void TransformEigenToTF(const Eigen::Transform3d &k, tf::Transform &t);

}

#endif
