00001 /* 00002 * Copyright (c) 2017 Roboception GmbH 00003 * All rights reserved 00004 * 00005 * Author: Christian Emmerich 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions are met: 00009 * 00010 * 1. Redistributions of source code must retain the above copyright notice, 00011 * this list of conditions and the following disclaimer. 00012 * 00013 * 2. Redistributions in binary form must reproduce the above copyright notice, 00014 * this list of conditions and the following disclaimer in the documentation 00015 * and/or other materials provided with the distribution. 00016 * 00017 * 3. Neither the name of the copyright holder nor the names of its contributors 00018 * may be used to endorse or promote products derived from this software without 00019 * specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00022 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00023 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00024 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE 00025 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00026 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00027 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00028 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00029 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00030 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00031 * POSSIBILITY OF SUCH DAMAGE. 00032 */ 00033 00034 00035 #ifndef RC_VISARD_DRIVER_PROTOBUF2ROS_CONVERSIONS_H 00036 #define RC_VISARD_DRIVER_PROTOBUF2ROS_CONVERSIONS_H 00037 00038 #include <roboception/msgs/imu.pb.h> 00039 #include <roboception/msgs/frame.pb.h> 00040 00041 #include <geometry_msgs/PoseStamped.h> 00042 #include <geometry_msgs/PoseWithCovarianceStamped.h> 00043 #include <sensor_msgs/Imu.h> 00044 #include <tf/transform_datatypes.h> 00045 00046 namespace rc 00047 { 00048 00049 sensor_msgs::ImuPtr toRosImu(std::shared_ptr<roboception::msgs::Imu> imu); 00050 00051 geometry_msgs::PoseStampedPtr toRosPoseStamped(std::shared_ptr<roboception::msgs::Frame> frame); 00052 00053 geometry_msgs::PoseWithCovarianceStampedPtr toRosPoseWithCovarianceStamped(std::shared_ptr<roboception::msgs::Frame> frame); 00054 00055 tf::Transform toRosTfTransform(std::shared_ptr<roboception::msgs::Frame> frame); 00056 00057 tf::StampedTransform toRosTfStampedTransform(std::shared_ptr<roboception::msgs::Frame> frame); 00058 00059 } 00060 00061 #endif //RC_VISARD_DRIVER_PROTOBUF2ROS_CONVERSIONS_H