#REEF_MSGS

This package contains various helper functions for attitude representation and ROS Support.

Angle representation conversion

Reef_msgs has an API which helps angle manipulation. It permits in one line to transform any angle representation between: axis angle, euler angle, rotation matrix, direction cosine matrix, quaternion; represented as any C++ type (geometry_msgs, vector, eigen matrix ...) to another angle representation in any other C++ type.

Here are some examples how to use it:

#include <reef_msgs/ReefMsgsConversionAPI.h>
geometry_msgs::Quaternion quat;
quat.x = 0;
quat.y = 0;
quat.z = 0;
quat.w = 1;
Eigen::Matrix3d DCM = reef_msgs::fromQuaternionToDCM<geometry_msgs::Quaternion,Eigen::Matrix3d>(quat); // fullfill the template with the input C++ type and the output C++ type
geometry_msgs::Quaternion quat1 = reef_msgs::fromDCMToQuaternion<Eigen::Matrix3d,geometry_msgs::Quaternion>(DCM);
Eigen::Matrix<double,3,1>  euler = reef_msgs::fromQuaternionToEulerAngle<geometry_msgs::Quaternion, Eigen::Matrix<double,3,1>>(quat1);

There is 6 angle representation supported right now :

-Quaternion

-AxisAngle

-DCM

-EulerAngle: is in (yaw, pich, roll); example:

    std::vector inputvec = {yaw,pitch,roll};
    
    geometry_msgs::Quaternion quat = fromEulerAngleToQuaternion<std::vector,geometry_msgs::Quaternion>(inputvec, "321") -> 321 can be changed to any euler angle application

-RotationMatrix

-Rodriguez Parameter

You can use the following syntax in C++ to convert them:

output type object = reef_msgs::from***Input angle***To***Ouput Angle***<***input type***, ***output type***>(input_object);

Not all the object type are supported for now, you can use std::vector, Eigen Matrix or some ros messages. To implement new object type conversion, you will have to modify the file ReefObjectConversion.h and add some static conversion.

Functions helper

It adds some useful functions to manipulate matrices and permits loading them as ros parameters.

Node helper

Reef_msgs features also a node to transform simulation odometry msgs in NWU to PoseStamped msgs in NED, Use it with a launch file like this::

    <launch>
        <node name="odomNWU2poseStampedNED" pkg="reef_msgs" type="OdomNWU2PoseStampedNED_node" clear_params="true" output = "screen">
        <remap from="odom_nwu" to="*** input odom NWU topic *** "/>
        <remap from="pose_stamped_ned" to="*** output posestamped NED topic ***"/>
        </node>

    </launch>