ros_conversion.cpp

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
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 *
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 *       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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#include <topological_map_2d/ros_conversion.h>
#include <boost/foreach.hpp>
#include <boost/make_shared.hpp>

namespace topological_map_2d
{

TopologicalMap fromMessage (const msg::TopologicalGraph& m)
{
  TopologicalMap g;

  BOOST_FOREACH (const msg::TopologicalMapNode& n, m.nodes) 
  {
    g.addNode(n);
  }

  BOOST_FOREACH (const msg::TopologicalMapEdge& e, m.edges) 
  {
    g.addEdge(e);
  }
  
  return g;
}

msg::TopologicalGraph::Ptr toMessage (const TopologicalMap& g)
{
  msg::TopologicalGraph::Ptr m =
    boost::make_shared<msg::TopologicalGraph>();
  BOOST_FOREACH (const GraphVertex& v, vertices(g)) 
  {
    m->nodes.push_back(g[v]);
  }

  BOOST_FOREACH (const GraphEdge& e, edges(g)) 
  {
    m->edges.push_back(g[e]);
  }
  return m;
}


} // namespace