.. _program_listing_file__tmp_ws_src_tuw_msgs_tuw_msgs_include_tuw_msgs_utils.hpp:

Program Listing for File utils.hpp
==================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_tuw_msgs_tuw_msgs_include_tuw_msgs_utils.hpp>` (``/tmp/ws/src/tuw_msgs/tuw_msgs/include/tuw_msgs/utils.hpp``)

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

.. code-block:: cpp

   #ifndef TUW_MSGS__UTILS_HPP_
   #define TUW_MSGS__UTILS_HPP_
   
   #include <geometry_msgs/msg/point.hpp>
   #include <geometry_msgs/msg/pose.hpp>
   #include <geometry_msgs/msg/quaternion.hpp>
   
   namespace tuw_msgs
   {
   
   using Idx = int64_t;
   
   enum Format
   {
     COMPACT,
     LOOSE,
   };
   
   size_t nr_of_leading_spaces(const std::string & inputString);
   
   std::string remove_spaces(std::string str);
   
   void rpy_to_quaternion(
     double roll, double pitch, double yaw, double & qx, double & qy, double & qz, double & qw);
   
   template<typename T>
   bool is_similar(const T & a, const T & b, T epsilon)
   {
     return std::abs(a - b) < epsilon;
   }
   bool is_equal(const geometry_msgs::msg::Point & a, const geometry_msgs::msg::Point & b);
   bool is_equal(const geometry_msgs::msg::Quaternion & a, const geometry_msgs::msg::Quaternion & b);
   bool is_equal(const geometry_msgs::msg::Pose & a, const geometry_msgs::msg::Pose & b);
   
   bool is_similar(
     const geometry_msgs::msg::Point & a, const geometry_msgs::msg::Point & b,
     double epsilon = 0.0001);
   bool is_similar(
     const geometry_msgs::msg::Quaternion & a, const geometry_msgs::msg::Quaternion & b,
     double epsilon = 0.0001);
   bool is_similar(
     const geometry_msgs::msg::Pose & a, const geometry_msgs::msg::Pose & b,
     double epsilon_position = 0.0001, double epsilon_orientation = 0.0001);
   
   bool is_similar(const std::string & a, const std::string & b);
   bool is_similar_with_cout(const std::string & a, const std::string & b);
   }  // namespace tuw_msgs
   
   #endif  // TUW_MSGS__UTILS_HPP_