text: #ifndef BITBOTS_LOCALIZATION_TOOLS_H
  #define BITBOTS_LOCALIZATION_TOOLS_H
  
  
  #include <vector>
  #include <memory>
  
  #include <ros/ros.h>
  #include <math.h>
  
  std::pair<double, double> cartesianToPolar(double x, double y);
  std::pair<double, double> polarToCartesian(double t, double r);
  double signedAngle(double angle_a, double angle_b);
  double signedAngle(double angle);
  
  
  #endif //BITBOTS_LOCALIZATION_TOOLS_H
  