.. _program_listing_file_include_tf2_impl_convert.h:

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

|exhale_lsh| :ref:`Return to documentation for file <file_include_tf2_impl_convert.h>` (``include/tf2/impl/convert.h``)

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

.. code-block:: cpp

   // Copyright 2013, Open Source Robotics Foundation, 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 Open Source Robotics Foundation 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__IMPL__CONVERT_H_
   #define TF2__IMPL__CONVERT_H_
   
   namespace tf2
   {
   namespace impl
   {
   
   template<bool IS_MESSAGE_A, bool IS_MESSAGE_B>
   class Converter
   {
   public:
     template<typename A, typename B>
     static void convert(const A & a, B & b);
   };
   
   // The case where both A and B are messages should not happen: if you have two
   // messages that are interchangeable, well, that's against the ROS purpose:
   // only use one type. Worst comes to worst, specialize the original convert
   // function for your types.
   // if B == A, the templated version of convert with only one argument will be
   // used.
   //
   template< >
   template<typename A, typename B>
   inline void Converter<true, true>::convert(const A & a, B & b);
   
   template< >
   template<typename A, typename B>
   inline void Converter<true, false>::convert(const A & a, B & b)
   {
     fromMsg(a, b);
   }
   
   template< >
   template<typename A, typename B>
   inline void Converter<false, true>::convert(const A & a, B & b)
   {
     b = toMsg(a);
   }
   
   template< >
   template<typename A, typename B>
   inline void Converter<false, false>::convert(const A & a, B & b)
   {
     fromMsg(toMsg(a), b);
   }
   
   }  // namespace impl
   }  // namespace tf2
   
   #endif  // TF2__IMPL__CONVERT_H_