json2msg_helpers.h

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//
// Created by yijiangh on 4/7/18.
//

#ifndef FRAMEFAB_MPP_JSON2MSG_HELPER_H
#define FRAMEFAB_MPP_JSON2MSG_HELPER_H

#include <choreo_rapidjson/include/rapidjson/document.h>

#include <Eigen/Core>

// msgs
#include <choreo_msgs/Grasp.h>
#include <geometry_msgs/Pose.h>

namespace choreo_task_sequence_processing
{

bool isValidJsonGHVector(const rapidjson::Value& j_vector);

bool isValidJsonGHPlane(const rapidjson::Value& j_plane);

void jsonVectorToEigenVector(const rapidjson::Value& json, Eigen::Vector3d& v);

void jsonPlaneToPoseMsg(const rapidjson::Value& json, geometry_msgs::Pose& p);

void jsonToGraspFrameFabMsg(const rapidjson::Value& json, choreo_msgs::Grasp& g);

}

#endif //FRAMEFAB_MPP_JSON2MSG_HELPER_H