walk_msgs: walk_msgs: conversion.hh Source File

00001 #ifndef WALK_MSGS_CONVERSION_HH
00002 # define WALK_MSGS_CONVERSION_HH
00003 # include <string>
00004 
00005 # include <walk_interfaces/discretized-trajectory.hh>
00006 # include <walk_interfaces/types.hh>
00007 
00008 # include "geometry_msgs/Point.h"
00009 # include "geometry_msgs/Pose.h"
00010 
00011 # include "nav_msgs/Path.h"
00012 
00013 # include "walk_msgs/Footprint2d.h"
00014 # include "walk_msgs/PathPoint2d.h"
00015 # include "walk_msgs/PathPoint3d.h"
00016 
00017 namespace walk_msgs
00018 {
00019   void convertPoseToHomogeneousMatrix(walk::HomogeneousMatrix3d& dst,
00020                                       const geometry_msgs::Pose& src);
00021   void convertHomogeneousMatrixToPose(geometry_msgs::Pose&,
00022                                       const walk::HomogeneousMatrix3d&);
00023 
00024   void convertTrajectoryToPath(nav_msgs::Path&,
00025                                const walk::DiscretizedTrajectory3d&,
00026                                const std::string& frameName);
00027 
00028   void convertTrajectoryV2dToPath(walk_msgs::PathPoint2d&,
00029                                   const walk::DiscretizedTrajectoryV2d&,
00030                                   const std::string& frameName);
00031   void convertTrajectoryV2dToPath(nav_msgs::Path& dst,
00032                                   const walk::DiscretizedTrajectoryV2d& src,
00033                                   const std::string& frameName);
00034 
00035   void convertTrajectoryV3dToPath(walk_msgs::PathPoint3d& dst,
00036                                   const walk::DiscretizedTrajectoryV3d& src,
00037                                   const std::string& frameName);
00038   void convertTrajectoryV3dToPath(nav_msgs::Path& dst,
00039                                   const walk::DiscretizedTrajectoryV3d& src,
00040                                   const std::string& frameName);
00041 
00042   void convertPointToVector3d(walk::Vector3d& dst,
00043                               const geometry_msgs::Point& src);
00044 
00045   void convertFootprint2dToHomogeneousMatrix3d
00046   (walk::HomogeneousMatrix3d& dst, const walk_msgs::Footprint2d& src);
00047 
00048   void convertHomogeneousMatrix3dToFootprint2d
00049   (walk_msgs::Footprint2d& dst, const walk::HomogeneousMatrix3d& src);
00050 
00051 } // end of namespace walk_msgs.
00052 
00053 #endif //! WALK_MSGS_CONVERSION_HH