From 5fa9d37571d5e5a143a4c00a73d8b4b893fd402e Mon Sep 17 00:00:00 2001
From: Louis-Guillaume DUBOIS <contact@lgdubois.fr>
Date: Thu, 23 Apr 2015 14:04:03 +0200
Subject: [PATCH] fonction conv Vector4f -> Quaternion

---
 hand_control/src/normal_estimator.cpp | 11 +++++++++++
 1 file changed, 11 insertions(+)

diff --git a/hand_control/src/normal_estimator.cpp b/hand_control/src/normal_estimator.cpp
index cd1fe6e..feb1e2a 100644
--- a/hand_control/src/normal_estimator.cpp
+++ b/hand_control/src/normal_estimator.cpp
@@ -9,6 +9,17 @@ typedef pcl::PointCloud<Point> PointCloud;
 typedef Eigen::Vector4f PCLCoord; // vecteur, accès par v(0), v(1)...
 typedef geometry_msgs::Quaternion ROSCoord; // struct : x, y, z, w
 
+const ROSCoord::ConstPtr
+PCLCoord_to_ROSCoord(const PCLCoord& pcl_coord)
+{
+  ROSCoord::Ptr ros_coord(new ROSCoord());
+  ros_coord->x = pcl_coord(0); // a
+  ros_coord->y = pcl_coord(1); // b
+  ros_coord->z = pcl_coord(2); // c
+  ros_coord->w = pcl_coord(3); // d
+  return ros_coord;
+}
+
 int
 main(int argc, char** argv)
 {