Eigen::Vector3d pose3Dto2D (geometry_msgs::Point const & translation,
geometry_msgs::Quaternion const & orientation)
{
// Can somebody please explain to me why Eigen has chosen to store
// the parameters in (x,y,z,w) order, but provide a ctor in
// (w,x,y,z) order? What have they been smoking?
//
Eigen::Quaternion<double> const rot (orientation.w,
orientation.x,
orientation.y,
orientation.z);
Eigen::Vector3d ux;
ux << 1.0, 0.0, 0.0;
ux = rot._transformVector (ux);
Eigen::Vector3d pose (translation.x, translation.y, atan2 (ux.y(), ux.x()));
return pose;
}
