// -*- mode: c++ -*-
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#ifndef JSK_FOOTSTEP_PLANNER_FOOTSTEP_CONVERSIONS_H_
#define JSK_FOOTSTEP_PLANNER_FOOTSTEP_CONVERSIONS_H_

#include <jsk_footstep_msgs/Footstep.h>
#include <jsk_footstep_msgs/FootstepArray.h>
#include <visualization_msgs/Marker.h>
#include <visualization_msgs/MarkerArray.h>
#include <Eigen/Geometry>

namespace jsk_footstep_planner
{
  jsk_footstep_msgs::Footstep footstepFromEigenPose(Eigen::Affine3f pose);
  jsk_footstep_msgs::Footstep footstepFromEigenPose(Eigen::Affine3d pose);
  visualization_msgs::Marker footstepToMarker(const jsk_footstep_msgs::Footstep& footstep, const std_msgs::Header& header);
  visualization_msgs::MarkerArray footstepArrayToMarkerArray(const jsk_footstep_msgs::FootstepArray& footstep_array);
}

#endif
