.. _program_listing_file_include_tf2_convert.h:

Program Listing for File convert.h
==================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_tf2_convert.h>` (``include/tf2/convert.h``)

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

.. code-block:: cpp

   // Copyright 2008, Willow Garage, Inc. 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 TF2__CONVERT_H_
   #define TF2__CONVERT_H_
   
   #include <algorithm>
   #include <array>
   #include <string>
   
   #include "geometry_msgs/msg/transform_stamped.hpp"
   #include "rosidl_runtime_cpp/traits.hpp"
   #include "tf2/exceptions.h"
   #include "tf2/impl/convert.h"
   #include "tf2/transform_datatypes.h"
   #include "tf2/visibility_control.h"
   
   namespace tf2
   {
   
   template<class T>
   void doTransform(
     const T & data_in, T & data_out,
     const geometry_msgs::msg::TransformStamped & transform);
   
   template<class T>
   tf2::TimePoint getTimestamp(const T & t);
   
   template<class T>
   std::string getFrameId(const T & t);
   
   template<class T>
   std::array<std::array<double, 6>, 6> getCovarianceMatrix(const T & t);
   
   template<class P>
   tf2::TimePoint getTimestamp(const tf2::Stamped<P> & t)
   {
     return t.stamp_;
   }
   
   template<class P>
   std::string getFrameId(const tf2::Stamped<P> & t)
   {
     return t.frame_id_;
   }
   
   template<class P>
   std::array<std::array<double, 6>, 6> getCovarianceMatrix(const tf2::WithCovarianceStamped<P> & t)
   {
     return t.cov_mat_;
   }
   
   template<typename A, typename B>
   B toMsg(const A & a);
   
   template<typename A, typename B>
   void fromMsg(const A & a, B & b);
   
   template<class A, class B>
   void convert(const A & a, B & b)
   {
     impl::Converter<rosidl_generator_traits::is_message<A>::value,
       rosidl_generator_traits::is_message<B>::value>::convert(a, b);
   }
   
   template<class A>
   void convert(const A & a1, A & a2)
   {
     if (&a1 != &a2) {
       a2 = a1;
     }
   }
   
   inline
   std::array<std::array<double, 6>, 6> covarianceRowMajorToNested(
     const std::array<double, 36> & row_major)
   {
     std::array<std::array<double, 6>, 6> nested_array;
     std::array<double, 36>::const_iterator ss = row_major.begin();
     for (std::array<double, 6> & dd : nested_array) {
       std::copy_n(ss, dd.size(), dd.begin());
       ss += dd.size();
     }
     return nested_array;
   }
   
   inline
   std::array<double, 36> covarianceNestedToRowMajor(
     const std::array<std::array<double, 6>, 6> & nested_array)
   {
     std::array<double, 36> row_major = {};
     size_t counter = 0;
     for (const auto & arr : nested_array) {
       for (const double & val : arr) {
         row_major[counter] = val;
         counter++;
       }
     }
     return row_major;
   }
   }  // namespace tf2
   
   #endif  // TF2__CONVERT_H_