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Signed-off-by: Chris Lalancette <clalancette@openrobotics.org> Signed-off-by: ahcorde <ahcorde@gmail.com>
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| /* | ||
| * Copyright (c) 2013, Open Source Robotics Foundation | ||
| * All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions are met: | ||
| * | ||
| * * Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * * Redistributions in binary form must reproduce the above copyright | ||
| * notice, this list of conditions and the following disclaimer in the | ||
| * documentation and/or other materials provided with the distribution. | ||
| * * Neither the name of the Willow Garage, Inc. nor the names of its | ||
| * contributors may be used to endorse or promote products derived from | ||
| * this software without specific prior written permission. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | ||
| * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE | ||
| * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE | ||
| * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE | ||
| * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR | ||
| * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF | ||
| * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS | ||
| * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN | ||
| * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) | ||
| * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| */ | ||
| // Copyright 2008, Willow Garage, Inc. All rights reserved. | ||
| // | ||
| // Redistribution and use in source and binary forms, with or without | ||
| // modification, are permitted provided that the following conditions are met: | ||
| // | ||
| // * Redistributions of source code must retain the above copyright | ||
| // notice, this list of conditions and the following disclaimer. | ||
| // | ||
| // * Redistributions in binary form must reproduce the above copyright | ||
| // notice, this list of conditions and the following disclaimer in the | ||
| // documentation and/or other materials provided with the distribution. | ||
| // | ||
| // * Neither the name of the Willow Garage nor the names of its | ||
| // contributors may be used to endorse or promote products derived from | ||
| // this software without specific prior written permission. | ||
| // | ||
| // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | ||
| // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE | ||
| // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE | ||
| // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE | ||
| // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR | ||
| // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF | ||
| // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS | ||
| // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN | ||
| // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) | ||
| // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| // POSSIBILITY OF SUCH DAMAGE. | ||
|
|
||
| /** \author Tully Foote */ | ||
|
|
||
| #ifndef TF2_CONVERT_H | ||
| #define TF2_CONVERT_H | ||
| #ifndef TF2__CONVERT_H_ | ||
| #define TF2__CONVERT_H_ | ||
|
|
||
| #include <builtin_interfaces/msg/time.hpp> | ||
| #include <string> | ||
|
|
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| #include <tf2/transform_datatypes.h> | ||
| #include <tf2/exceptions.h> | ||
| #include <geometry_msgs/msg/transform_stamped.hpp> | ||
| #include <tf2/impl/convert.h> | ||
| #include <tf2/visibility_control.h> | ||
| #include "builtin_interfaces/msg/time.hpp" | ||
| #include "geometry_msgs/msg/transform_stamped.hpp" | ||
| #include "rosidl_runtime_cpp/traits.hpp" | ||
| #include "tf2/exceptions.h" | ||
| #include "tf2/impl/convert.h" | ||
| #include "tf2/transform_datatypes.h" | ||
| #include "tf2/visibility_control.h" | ||
|
|
||
| #include <rosidl_runtime_cpp/traits.hpp> | ||
|
|
||
| namespace tf2 { | ||
| namespace tf2 | ||
| { | ||
|
|
||
| /**\brief The templated function expected to be able to do a transform | ||
| * | ||
| * This is the method which tf2 will use to try to apply a transform for any given datatype. | ||
| * \param data_in The data to be transformed. | ||
| * \param data_out A reference to the output data. Note this can point to data in and the method should be mutation safe. | ||
| * \param transform The transform to apply to data_in to fill data_out. | ||
| * \param data_in[in] The data to be transformed. | ||
| * \param data_out[inout] A reference to the output data. Note this can point to data in and the method should be mutation safe. | ||
| * \param transform[in] The transform to apply to data_in to fill data_out. | ||
| * | ||
| * This method needs to be implemented by client library developers | ||
| */ | ||
| template <class T> | ||
| void doTransform(const T& data_in, T& data_out, const geometry_msgs::msg::TransformStamped& transform); | ||
| template<class T> | ||
| void doTransform( | ||
| const T & data_in, T & data_out, | ||
| const geometry_msgs::msg::TransformStamped & transform); | ||
|
|
||
| /**\brief Get the timestamp from data | ||
| * \param t The data input. | ||
| * \param[in] t The data input. | ||
| * \return The timestamp associated with the data. | ||
| */ | ||
| template <class T> | ||
| tf2::TimePoint getTimestamp(const T& t); | ||
| template<class T> | ||
| tf2::TimePoint getTimestamp(const T & t); | ||
|
|
||
| /**\brief Get the frame_id from data | ||
| * \param t The data input. | ||
| * \param[in] t The data input. | ||
| * \return The frame_id associated with the data. | ||
| */ | ||
| template <class T> | ||
| std::string getFrameId(const T& t); | ||
|
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|
|
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| template<class T> | ||
| std::string getFrameId(const T & t); | ||
|
|
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| /* An implementation for Stamped<P> datatypes */ | ||
| template <class P> | ||
| tf2::TimePoint getTimestamp(const tf2::Stamped<P>& t) | ||
| { | ||
| return t.stamp_; | ||
| } | ||
| /**\brief Get the frame_id from data | ||
| * | ||
| * An implementation for Stamped<P> datatypes. | ||
| * | ||
| * \param[in] t The data input. | ||
| * \return The frame_id associated with the data. | ||
| */ | ||
| template<class P> | ||
| tf2::TimePoint getTimestamp(const tf2::Stamped<P> & t) | ||
| { | ||
| return t.stamp_; | ||
| } | ||
|
|
||
| /* An implementation for Stamped<P> datatypes */ | ||
| template <class P> | ||
| std::string getFrameId(const tf2::Stamped<P>& t) | ||
| { | ||
| return t.frame_id_; | ||
| } | ||
| /**\brief Get the frame_id from data | ||
| * | ||
| * An implementation for Stamped<P> datatypes. | ||
| * | ||
| * \param[in] t The data input. | ||
| * \return The frame_id associated with the data. | ||
| */ | ||
| template<class P> | ||
| std::string getFrameId(const tf2::Stamped<P> & t) | ||
| { | ||
| return t.frame_id_; | ||
| } | ||
|
|
||
| /** Function that converts from one type to a ROS message type. It has to be | ||
| /**\brief Function that converts from one type to a ROS message type. It has to be | ||
| * implemented by each data type in tf2_* (except ROS messages) as it is | ||
| * used in the "convert" function. | ||
| * \param a an object of whatever type | ||
| * \return the conversion as a ROS message | ||
| */ | ||
| template<typename A, typename B> | ||
| B toMsg(const A& a); | ||
| B toMsg(const A & a); | ||
|
|
||
| /** Function that converts from a ROS message type to another type. It has to be | ||
| /**\brief Function that converts from a ROS message type to another type. It has to be | ||
| * implemented by each data type in tf2_* (except ROS messages) as it is used | ||
| * in the "convert" function. | ||
| * \param a a ROS message to convert from | ||
| * \param b the object to convert to | ||
| */ | ||
| template<typename A, typename B> | ||
| void fromMsg(const A&, B& b); | ||
| void fromMsg(const A &, B & b); | ||
|
|
||
| /** Function that converts any type to any type (messages or not). | ||
| /**\brief Function that converts any type to any type (messages or not). | ||
| * Matching toMsg and from Msg conversion functions need to exist. | ||
| * If they don't exist or do not apply (for example, if your two | ||
| * classes are ROS messages), just write a specialization of the function. | ||
| * \param a an object to convert from | ||
| * \param b the object to convert to | ||
| */ | ||
|
|
||
| template <class A, class B> | ||
| void convert(const A& a, B& b) | ||
| template<class A, class B> | ||
| void convert(const A & a, B & b) | ||
| { | ||
| impl::Converter<rosidl_generator_traits::is_message<A>::value, | ||
| rosidl_generator_traits::is_message<B>::value>::convert(a, b); | ||
| rosidl_generator_traits::is_message<B>::value>::convert(a, b); | ||
| } | ||
|
|
||
| template <class A> | ||
| void convert(const A& a1, A& a2) | ||
| template<class A> | ||
| void convert(const A & a1, A & a2) | ||
| { | ||
| if(&a1 != &a2) | ||
| if (&a1 != &a2) { | ||
| a2 = a1; | ||
| } | ||
| } | ||
| } // namespace tf2 | ||
|
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|
|
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| } | ||
|
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| #endif //TF2_CONVERT_H | ||
| #endif // TF2__CONVERT_H_ |
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