kdl_msg.h

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/*
 * Copyright (c) 2012, Willow Garage, Inc.
 * All rights reserved.
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 *
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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>

#include <ros/macros.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:
ROS_DEPRECATED void PoseMsgToKDL(const geometry_msgs::Pose &m, KDL::Frame &k);

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



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

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



}


#endif