.. _program_listing_file__tmp_ws_src_octomap_ros_include_octomap_ros_conversions.hpp:

Program Listing for File conversions.hpp
========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_octomap_ros_include_octomap_ros_conversions.hpp>` (``/tmp/ws/src/octomap_ros/include/octomap_ros/conversions.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   
   // Copyright 2011, A. Hornung, University of Freiburg. All rights reserved.
   //
   // Redistribution and use in source and binary forms, with or without
   // 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
   //      notice, this list of conditions and the following disclaimer in the
   //      documentation and/or other materials provided with the distribution.
   //
   //    * Neither the name of the Willow Garage 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
   // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
   // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
   // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
   // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
   // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
   // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
   // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
   // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   // POSSIBILITY OF SUCH DAMAGE.
   
   #ifndef OCTOMAP_ROS__CONVERSIONS_HPP_
   #define OCTOMAP_ROS__CONVERSIONS_HPP_
   
   #include <octomap/octomap.h>
   
   #include <tf2/LinearMath/Quaternion.h>
   #include <tf2/LinearMath/Transform.h>
   #include <tf2/LinearMath/Vector3.h>
   
   #include <geometry_msgs/msg/point.hpp>
   #include <sensor_msgs/msg/point_cloud2.hpp>
   
   namespace octomap
   {
   void pointsOctomapToPointCloud2(
     const octomap::point3d_list & points,
     sensor_msgs::msg::PointCloud2 & cloud);
   
   void pointCloud2ToOctomap(
     const sensor_msgs::msg::PointCloud2 & cloud,
     octomap::Pointcloud & octomapCloud);
   
   static inline geometry_msgs::msg::Point pointOctomapToMsg(const octomap::point3d & octomapPt)
   {
     return geometry_msgs::build<geometry_msgs::msg::Point>()
            .x(octomapPt.x())
            .y(octomapPt.y())
            .z(octomapPt.z());
   }
   
   static inline octomap::point3d pointMsgToOctomap(const geometry_msgs::msg::Point & ptMsg)
   {
     return octomap::point3d(ptMsg.x, ptMsg.y, ptMsg.z);
   }
   
   static inline tf2::Vector3 pointOctomapToTf(const point3d & octomapPt)
   {
     return tf2::Vector3(octomapPt.x(), octomapPt.y(), octomapPt.z());
   }
   
   static inline octomap::point3d pointTfToOctomap(const tf2::Vector3 & vTf)
   {
     return point3d(vTf.x(), vTf.y(), vTf.z());
   }
   
   static inline tf2::Quaternion quaternionOctomapToTf(const octomath::Quaternion & octomapQ)
   {
     return tf2::Quaternion(octomapQ.x(), octomapQ.y(), octomapQ.z(), octomapQ.u());
   }
   
   static inline octomath::Quaternion quaternionTfToOctomap(const tf2::Quaternion & qTf)
   {
     return octomath::Quaternion(qTf.w(), qTf.x(), qTf.y(), qTf.z());
   }
   
   static inline tf2::Transform poseOctomapToTf(const octomap::pose6d & octomapPose)
   {
     return tf2::Transform(
       quaternionOctomapToTf(octomapPose.rot()),
       pointOctomapToTf(octomapPose.trans()));
   }
   
   static inline octomap::pose6d poseTfToOctomap(const tf2::Transform & transformTf)
   {
     return octomap::pose6d(
       pointTfToOctomap(transformTf.getOrigin()),
       quaternionTfToOctomap(transformTf.getRotation()));
   }
   
   
   }  // namespace octomap
   
   
   #endif  // OCTOMAP_ROS__CONVERSIONS_HPP_