#ifndef TF2_ADAPTER_H
#define TF2_ADAPTER_H

#include "../../core/point_cloud_types.h"

namespace adapters
{
namespace ros2
{
struct TfTransform
{
    QString fromFrame;
    QString toFrame;
    float tx = 0.0f;
    float ty = 0.0f;
    float tz = 0.0f;
};

core::PointCloudFrame transformFrame(const core::PointCloudFrame &input, const TfTransform &transform);
} // namespace ros2
} // namespace adapters

#endif // TF2_ADAPTER_H