[TASK] Extend Eta and Nu structs

[Andeshog]

Description of task

• ROS translation creating or writing to Eta and Nu objects from a Pose or Twist message. Example usage:

// create from a pose message
auto eta = vortex::utils::types::Eta::from_pose(pose_msg);

// Write to existing Eta object using 1) full pose message 2) position part 3) orientation part
vortex::utils::types::Eta eta;
// 1
vortex::utils::ros_translation::update_eta_from_pose(eta, pose_msg);
// 2
vortex::utils::ros_translation::update_eta_from_position(eta, pose_msg.position);
// 3
vortex::utils::ros_translation::update_eta_from_orientation(eta, pose_msg.orientation);

• Write to Eta and Nu objects from Eigen::Vector3d and Eigen::Vector6d
• Method to return position/linear vel as Vector3d and orientation/angular vel as Vector3d

Suggested Workflow

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Specifications

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Contacts

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Code Quality

• Every function in header files are documented (inputs/returns/exceptions)
• The project has automated tests that cover MOST of the functions and branches in functions (pytest/gtest)
• The code is documented on the wiki (provide link)