.. _program_listing_file__tmp_ws_src_gazebo_ros_pkgs_gazebo_ros_include_gazebo_ros_conversions_geometry_msgs.hpp:

Program Listing for File geometry_msgs.hpp
==========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_gazebo_ros_pkgs_gazebo_ros_include_gazebo_ros_conversions_geometry_msgs.hpp>` (``/tmp/ws/src/gazebo_ros_pkgs/gazebo_ros/include/gazebo_ros/conversions/geometry_msgs.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2018 Open Source Robotics Foundation, Inc.
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   #ifndef GAZEBO_ROS__CONVERSIONS__GEOMETRY_MSGS_HPP_
   #define GAZEBO_ROS__CONVERSIONS__GEOMETRY_MSGS_HPP_
   
   #include <geometry_msgs/msg/point.hpp>
   #include <geometry_msgs/msg/point32.hpp>
   #include <geometry_msgs/msg/pose.hpp>
   #include <geometry_msgs/msg/quaternion.hpp>
   #include <geometry_msgs/msg/transform.hpp>
   #include <geometry_msgs/msg/vector3.hpp>
   #include <ignition/math/Pose3.hh>
   #include <ignition/math/Quaternion.hh>
   #include <ignition/math/Vector3.hh>
   
   #include "gazebo_ros/conversions/generic.hpp"
   
   namespace gazebo_ros
   {
   
   template<class T>
   inline
   T Convert(const geometry_msgs::msg::Vector3 &)
   {
     T::ConversionNotImplemented;
   }
   
   template<>
   inline
   ignition::math::Vector3d Convert(const geometry_msgs::msg::Vector3 & msg)
   {
     ignition::math::Vector3d vec;
     vec.X(msg.x);
     vec.Y(msg.y);
     vec.Z(msg.z);
     return vec;
   }
   
   template<class T>
   inline
   T Convert(const geometry_msgs::msg::Point32 &)
   {
     T::ConversionNotImplemented;
   }
   
   template<>
   inline
   ignition::math::Vector3d Convert(const geometry_msgs::msg::Point32 & in)
   {
     ignition::math::Vector3d vec;
     vec.X(in.x);
     vec.Y(in.y);
     vec.Z(in.z);
     return vec;
   }
   
   template<class T>
   inline
   T Convert(const geometry_msgs::msg::Point &)
   {
     T::ConversionNotImplemented;
   }
   
   template<>
   inline
   geometry_msgs::msg::Vector3 Convert(const geometry_msgs::msg::Point & in)
   {
     geometry_msgs::msg::Vector3 msg;
     msg.x = in.x;
     msg.y = in.y;
     msg.z = in.z;
     return msg;
   }
   
   template<>
   inline
   ignition::math::Vector3d Convert(const geometry_msgs::msg::Point & in)
   {
     ignition::math::Vector3d out;
     out.X(in.x);
     out.Y(in.y);
     out.Z(in.z);
     return out;
   }
   
   template<>
   inline
   geometry_msgs::msg::Vector3 Convert(const ignition::math::Vector3d & vec)
   {
     geometry_msgs::msg::Vector3 msg;
     msg.x = vec.X();
     msg.y = vec.Y();
     msg.z = vec.Z();
     return msg;
   }
   
   template<>
   inline
   geometry_msgs::msg::Point Convert(const ignition::math::Vector3d & vec)
   {
     geometry_msgs::msg::Point msg;
     msg.x = vec.X();
     msg.y = vec.Y();
     msg.z = vec.Z();
     return msg;
   }
   
   template<>
   inline
   geometry_msgs::msg::Quaternion Convert(const ignition::math::Quaterniond & in)
   {
     geometry_msgs::msg::Quaternion msg;
     msg.x = in.X();
     msg.y = in.Y();
     msg.z = in.Z();
     msg.w = in.W();
     return msg;
   }
   
   template<>
   inline
   geometry_msgs::msg::Transform Convert(const ignition::math::Pose3d & in)
   {
     geometry_msgs::msg::Transform msg;
     msg.translation = Convert<geometry_msgs::msg::Vector3>(in.Pos());
     msg.rotation = Convert<geometry_msgs::msg::Quaternion>(in.Rot());
     return msg;
   }
   
   template<>
   inline
   geometry_msgs::msg::Pose Convert(const ignition::math::Pose3d & in)
   {
     geometry_msgs::msg::Pose msg;
     msg.position = Convert<geometry_msgs::msg::Point>(in.Pos());
     msg.orientation = Convert<geometry_msgs::msg::Quaternion>(in.Rot());
     return msg;
   }
   
   template<class T>
   inline
   T Convert(const geometry_msgs::msg::Quaternion &)
   {
     T::ConversionNotImplemented;
   }
   
   template<>
   inline
   ignition::math::Quaterniond Convert(const geometry_msgs::msg::Quaternion & in)
   {
     return ignition::math::Quaterniond(in.w, in.x, in.y, in.z);
   }
   
   template<class T>
   inline
   T Convert(const geometry_msgs::msg::Transform &)
   {
     T::ConversionNotImplemented;
   }
   
   template<>
   inline
   ignition::math::Pose3d Convert(const geometry_msgs::msg::Transform & in)
   {
     ignition::math::Pose3d msg;
     msg.Pos() = Convert<ignition::math::Vector3d>(in.translation);
     msg.Rot() = Convert<ignition::math::Quaterniond>(in.rotation);
     return msg;
   }
   
   template<class T>
   inline
   T Convert(const geometry_msgs::msg::Pose &)
   {
     T::ConversionNotImplemented;
   }
   
   template<>
   inline
   geometry_msgs::msg::Transform Convert(const geometry_msgs::msg::Pose & in)
   {
     geometry_msgs::msg::Transform msg;
     msg.translation = Convert<geometry_msgs::msg::Vector3>(in.position);
     msg.rotation = in.orientation;
     return msg;
   }
   
   template<>
   inline
   ignition::math::Pose3d Convert(const geometry_msgs::msg::Pose & in)
   {
     return {Convert<ignition::math::Vector3d>(in.position),
       Convert<ignition::math::Quaterniond>(in.orientation)};
   }
   
   }  // namespace gazebo_ros
   #endif  // GAZEBO_ROS__CONVERSIONS__GEOMETRY_MSGS_HPP_