kdl_msg.h

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/*
 * Copyright (c) 2012, Willow Garage, Inc.
 * All rights reserved.
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 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
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 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 * 
 * Author: Adam Leeper
 */

#ifndef CONVERSIONS_KDL_MSG_H
#define CONVERSIONS_KDL_MSG_H

#include "kdl/frames.hpp"
#include <geometry_msgs/Point.h>
#include <geometry_msgs/Pose.h>
#include <geometry_msgs/Quaternion.h>
#include <geometry_msgs/Transform.h>
#include <geometry_msgs/Twist.h>
#include <geometry_msgs/Vector3.h>
#include <geometry_msgs/Wrench.h>


namespace tf {

void pointMsgToKDL(const geometry_msgs::Point &m, KDL::Vector &k);

void pointKDLToMsg(const KDL::Vector &k, geometry_msgs::Point &m);

void poseMsgToKDL(const geometry_msgs::Pose &m, KDL::Frame &k);

void poseKDLToMsg(const KDL::Frame &k, geometry_msgs::Pose &m);

void quaternionMsgToKDL(const geometry_msgs::Quaternion &m, KDL::Rotation &k);

void quaternionKDLToMsg(const KDL::Rotation &k, geometry_msgs::Quaternion &m);

void transformMsgToKDL(const geometry_msgs::Transform &m, KDL::Frame &k);

void transformKDLToMsg(const KDL::Frame &k, geometry_msgs::Transform &m);

void twistMsgToKDL(const geometry_msgs::Twist &m, KDL::Twist &k);

void twistKDLToMsg(const KDL::Twist &k, geometry_msgs::Twist &m);

void vectorMsgToKDL(const geometry_msgs::Vector3 &m, KDL::Vector &k);

void vectorKDLToMsg(const KDL::Vector &k, geometry_msgs::Vector3 &m);

void wrenchMsgToKDL(const geometry_msgs::Wrench &m, KDL::Wrench &k);

void wrenchKDLToMsg(const KDL::Wrench &k, geometry_msgs::Wrench &m);


//Deprecated methods use above:
void PoseMsgToKDL(const geometry_msgs::Pose &m, KDL::Frame &k)__attribute__((deprecated));

void PoseKDLToMsg(const KDL::Frame &k, geometry_msgs::Pose &m) __attribute__((deprecated));



void TwistMsgToKDL(const geometry_msgs::Twist &m, KDL::Twist &k) __attribute__((deprecated));

void TwistKDLToMsg(const KDL::Twist &k, geometry_msgs::Twist &m) __attribute__((deprecated));



}


#endif