text: /*
   * Copyright (c) 2020 Johannes Pankert <pankertj@ethz.ch>
   * All rights reserved.
   *
   * Redistribution and use in source and binary forms, with or without
   * modification, are permitted provided that the following conditions are met:
   *
   * 1. Redistributions of source code must retain the above copyright notice,
   *    this list of conditions and the following disclaimer.
   * 2. Redistributions in binary form must reproduce the above copyright
   *    notice, this list of conditions and the following disclaimer in the
   *    documentation and/or other materials provided with the distribution.
   * 3. Neither the name of this work nor the names of its
   *    contributors may be used to endorse or promote products derived from
   *    this software without specific prior written permission.
   *
   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
   * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
   * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
   * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
   * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
   * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
   * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
   * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
   * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
   * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   * POSSIBILITY OF SUCH DAMAGE.
   */
  
  #pragma once
  
  #include <perceptive_mpc/ExplicitTemplateInstantiations.h>
  #include <kindr/Core>
  #include <Eigen/Core>
  
  namespace perceptive_mpc {
  
  class Conversions {
   public:
    typedef ocs2::SystemObservation<perceptive_mpc::STATE_DIM_, perceptive_mpc::INPUT_DIM_> Observation;
    typedef Observation::state_vector_t state_vector_t;
    typedef Observation::input_vector_t input_vector_t;
  
    static void writeMpcState(state_vector_t& stateVector, const kindr::HomTransformQuatD& pose, const Eigen::VectorXd& armPositions);
    static void readMpcState(const state_vector_t& stateVector, kindr::HomTransformQuatD& pose, Eigen::VectorXd& armPositions);
  
    static void readMpcInput(const input_vector_t& inputVector, kindr::TwistLocalD& twist, Eigen::VectorXd& armVelocities);
  
  };
  
  }  // namespace smb_path_following