text: import rospy
  import std_msgs.msg as std_msgs
  import geometry_msgs.msg as geo_msgs
  import uav_control.msg as uav_msgs
  
  def Array2Point(array):
  	return geo_msgs.Point(*array)
  def Array2Vector3(array):
  	return geo_msgs.Vector3(*array)
  
  def Array2Quaternion(array):
  	return geo_msgs.Quaternion(*array)
  
  def vectors2BodyInfo(translation, rotation, velocity, twist, linear_accel, angular_accel):
  	
  	header = std_msgs.Header()
  	header.stamp = rospy.Time.now()
  
  	pose = geo_msgs.Pose(Array2Point(translation), Array2Quaternion(rotation))
  	twist = geo_msgs.Twist(Array2Vector3(velocity), Array2Vector3(twist))
  	accel = geo_msgs.Accel(Array2Vector3(linear_accel), Array2Vector3(angular_accel))
  
  	return uav_msgs.BodyInfo(header, pose, twist, accel)
  