cart_local_planner: utils.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 
00031 #include <cart_local_planner/utils.h>
00032 #include <boost/lexical_cast.hpp>
00033 
00034 namespace cart_local_planner
00035 {
00036 
00037 using std::string;
00038 using boost::lexical_cast;
00039 namespace gm=geometry_msgs;
00040 
00041 template <class T>
00042 inline
00043 string lc (const T& x)
00044 {
00045   return boost::lexical_cast<string>(x);
00046 }
00047            
00048 string toString (const tf::Pose& pose)
00049 {
00050   gm::Pose p;
00051   tf::poseTFToMsg(pose, p);
00052   return toString(p);
00053 }
00054 
00055 string toString (const gm::Pose& pose)
00056 {
00057   return "(" + lc(pose.position.x) + ", " + lc(pose.position.y) + ", " + lc(tf::getYaw(pose.orientation)) + ")";
00058 }
00059 
00060 
00061 
00062 } // namespace cart_local_planner