graph_mapping_utils: msg.cpp Source File

00001 /*
00002  * Copyright (c) 2008, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  *
00029  */
00030 
00039 #include <graph_mapping_utils/msg.h>
00040 #include <ros/assert.h>
00041 #include <graph_mapping_utils/geometry.h>
00042 #include <boost/foreach.hpp>
00043 
00044 namespace graph_mapping_utils
00045 {
00046 
00047 NodePoseMap fromMsg (const NodePoses& poses)
00048 {
00049   ROS_ASSERT (poses.nodes.size() == poses.poses.size());
00050   NodePoseMap m;
00051   for (unsigned i=0; i<poses.nodes.size(); i++)
00052     m[poses.nodes[i]] = toPose(poses.poses[i]);
00053   return m;
00054 }
00055 
00056 NodePoses::ConstPtr toMsg (const NodePoseMap& poses)
00057 {
00058   NodePoses::Ptr m(new NodePoses());
00059   BOOST_FOREACH (const NodePoseMap::value_type& e, poses) {
00060     m->poses.push_back(toPose(e.second));
00061     m->nodes.push_back(e.first);
00062   }
00063   return m;
00064 }
00065 
00066 } // namespace