00001 /* 00002 * Copyright (c) 2013, Open Source Robotics Foundation 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 00032 #ifndef TF2_CONVERT_H 00033 #define TF2_CONVERT_H 00034 00035 00036 #include <tf2/transform_datatypes.h> 00037 #include <tf2/exceptions.h> 00038 #include <geometry_msgs/TransformStamped.h> 00039 #include <tf2/impl/convert.h> 00040 00041 namespace tf2 { 00042 00052 template <class T> 00053 void doTransform(const T& data_in, T& data_out, const geometry_msgs::TransformStamped& transform); 00054 00060 template <class T> 00061 const ros::Time& getTimestamp(const T& t); 00062 00068 template <class T> 00069 const std::string& getFrameId(const T& t); 00070 00071 00072 00073 /* An implementation for Stamped<P> datatypes */ 00074 template <class P> 00075 const ros::Time& getTimestamp(const tf2::Stamped<P>& t) 00076 { 00077 return t.stamp_; 00078 } 00079 00080 /* An implementation for Stamped<P> datatypes */ 00081 template <class P> 00082 const std::string& getFrameId(const tf2::Stamped<P>& t) 00083 { 00084 return t.frame_id_; 00085 } 00086 00093 template<typename A, typename B> 00094 B toMsg(const A& a); 00095 00102 template<typename A, typename B> 00103 void fromMsg(const A&, B& b); 00104 00112 template <class A, class B> 00113 void convert(const A& a, B& b) 00114 { 00115 //printf("In double type convert\n"); 00116 impl::Converter<ros::message_traits::IsMessage<A>::value, ros::message_traits::IsMessage<B>::value>::convert(a, b); 00117 } 00118 00119 template <class A> 00120 void convert(const A& a1, A& a2) 00121 { 00122 //printf("In single type convert\n"); 00123 if(&a1 != &a2) 00124 a2 = a1; 00125 } 00126 00127 00128 } 00129 00130 #endif //TF2_CONVERT_H