convert.h

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#ifndef XPP_ROS_CONVERSIONS_H_
#define XPP_ROS_CONVERSIONS_H_
 
#include <vector>
 
#include <xpp_msgs/StateLin3d.h>
#include <xpp_msgs/State6d.h>
#include <xpp_msgs/RobotStateCartesian.h>
#include <xpp_msgs/RobotStateCartesianTrajectory.h>
 
#include <xpp_states/state.h>
#include <xpp_states/robot_state_cartesian.h>
 
namespace xpp {
 
struct Convert {
 
static StateLin3d
ToXpp(const xpp_msgs::StateLin3d& ros)
{
  StateLin3d point;
  point.p_.x() = ros.pos.x;
  point.p_.y() = ros.pos.y;
  point.p_.z() = ros.pos.z;
 
  point.v_.x() = ros.vel.x;
  point.v_.y() = ros.vel.y;
  point.v_.z() = ros.vel.z;
 
  point.a_.x() = ros.acc.x;
  point.a_.y() = ros.acc.y;
  point.a_.z() = ros.acc.z;
 
  return point;
}
 
static xpp_msgs::StateLin3d
ToRos(const StateLin3d& xpp)
{
  xpp_msgs::StateLin3d ros;
  ros.pos.x = xpp.p_.x();
  ros.pos.y = xpp.p_.y();
  ros.pos.z = xpp.p_.z();
 
  ros.vel.x = xpp.v_.x();
  ros.vel.y = xpp.v_.y();
  ros.vel.z = xpp.v_.z();
 
  ros.acc.x = xpp.a_.x();
  ros.acc.y = xpp.a_.y();
  ros.acc.z = xpp.a_.z();
 
  return ros;
}
 
template<typename T>
static Vector3d
ToXpp(const T& ros)
{
  Vector3d vec;
  vec << ros.x, ros.y, ros.z;
  return vec;
}
 
template<typename T>
static T
ToRos(const Vector3d& xpp)
{
  T ros;
  ros.x = xpp.x();
  ros.y = xpp.y();
  ros.z = xpp.z();
 
  return ros;
}
 
template<typename T>
static Endeffectors<Vector3d>
ToXpp(const std::vector<T>& ros)
{
  Endeffectors<Vector3d> xpp(ros.size());
 
  for (auto ee : xpp.GetEEsOrdered())
    xpp.at(ee) = ToXpp(ros.at(ee));
 
  return xpp;
}
 
static Eigen::Quaterniond
ToXpp(const geometry_msgs::Quaternion ros)
{
  Eigen::Quaterniond xpp;
  xpp.w() = ros.w;
  xpp.x() = ros.x;
  xpp.y() = ros.y;
  xpp.z() = ros.z;
 
  return xpp;
}
 
static geometry_msgs::Quaternion
ToRos(const Eigen::Quaterniond xpp)
{
  geometry_msgs::Quaternion ros;
  ros.w = xpp.w();
  ros.x = xpp.x();
  ros.y = xpp.y();
  ros.z = xpp.z();
 
  return ros;
}
 
static xpp_msgs::State6d
ToRos(const State3d& xpp)
{
  xpp_msgs::State6d msg;
 
  msg.pose.position = ToRos<geometry_msgs::Point>(xpp.lin.p_);
  msg.twist.linear  = ToRos<geometry_msgs::Vector3>(xpp.lin.v_);
  msg.accel.linear  = ToRos<geometry_msgs::Vector3>(xpp.lin.a_);
 
  msg.pose.orientation = ToRos(xpp.ang.q);
  msg.twist.angular    = ToRos<geometry_msgs::Vector3>(xpp.ang.w);
  msg.accel.angular    = ToRos<geometry_msgs::Vector3>(xpp.ang.wd);
 
  return msg;
}
 
static State3d
ToXpp(const xpp_msgs::State6d& ros)
{
  State3d xpp;
 
  xpp.lin.p_ = ToXpp(ros.pose.position);
  xpp.lin.v_ = ToXpp(ros.twist.linear);
  xpp.lin.a_ = ToXpp(ros.accel.linear);
 
  xpp.ang.q = ToXpp(ros.pose.orientation);
  xpp.ang.w = ToXpp(ros.twist.angular);
  xpp.ang.wd = ToXpp(ros.accel.angular);
 
  return xpp;
}
 
static xpp_msgs::RobotStateCartesian
ToRos(const RobotStateCartesian& xpp)
{
  xpp_msgs::RobotStateCartesian ros;
 
  ros.base            = ToRos(xpp.base_);
  ros.time_from_start = ros::Duration(xpp.t_global_);
 
  for (auto ee : xpp.ee_contact_.GetEEsOrdered()) {
    ros.ee_motion. push_back(ToRos(xpp.ee_motion_.at(ee)));
    ros.ee_contact.push_back(xpp.ee_contact_.at(ee));
    ros.ee_forces. push_back(ToRos<geometry_msgs::Vector3>(xpp.ee_forces_.at(ee)));
  }
 
  return ros;
}
 
static RobotStateCartesian
ToXpp(const xpp_msgs::RobotStateCartesian& ros)
{
 
  int n_ee = ros.ee_motion.size();
  RobotStateCartesian xpp(n_ee);
 
  xpp.base_     = ToXpp(ros.base);
  xpp.t_global_ = ros.time_from_start.toSec();
 
  for (auto ee : xpp.ee_contact_.GetEEsOrdered()) {
    xpp.ee_motion_.at(ee)  = ToXpp(ros.ee_motion.at(ee));
    xpp.ee_contact_.at(ee) = ros.ee_contact.at(ee);
    xpp.ee_forces_.at(ee)  = ToXpp(ros.ee_forces.at(ee));
  }
 
  return xpp;
}
 
static xpp_msgs::RobotStateCartesianTrajectory
ToRos(const std::vector<RobotStateCartesian>& xpp)
{
  xpp_msgs::RobotStateCartesianTrajectory msg;
 
  for (const auto state : xpp) {
    auto state_msg = ToRos(state);
    msg.points.push_back(state_msg);
  }
 
  return msg;
}
 
static std::vector<RobotStateCartesian>
ToXpp(const xpp_msgs::RobotStateCartesianTrajectory& ros)
{
  std::vector<RobotStateCartesian> xpp_vec;
 
  for (const auto ros_state : ros.points) {
    auto xpp = ToXpp(ros_state);
    xpp_vec.push_back(xpp);
  }
 
  return xpp_vec;
}
 
};
 
} // namespace xpp
 
#endif /* XPP_ROS_CONVERSIONS_H_ */