Go to the documentation of this file.00001
00020 #include "robot_model_services/helper/TypeHelper.hpp"
00021
00022 namespace robot_model_services {
00023 geometry_msgs::Point TypeHelper::getPointMSG(const SimpleVector3 &vector) {
00024 geometry_msgs::Point point;
00025
00026 point.x = vector[0];
00027 point.y = vector[1];
00028 point.z = vector[2];
00029
00030 return point;
00031 }
00032
00033 geometry_msgs::Quaternion TypeHelper::getQuaternionMSG(const SimpleQuaternion &quaternion) {
00034 geometry_msgs::Quaternion result;
00035
00036 result.w = quaternion.w();
00037 result.x = quaternion.x();
00038 result.y = quaternion.y();
00039 result.z = quaternion.z();
00040
00041 return result;
00042 }
00043
00044 SimpleVector3 TypeHelper::getSimpleVector3(const geometry_msgs::Pose &pose) {
00045 return TypeHelper::getSimpleVector3(pose.position);
00046 }
00047
00048 SimpleVector3 TypeHelper::getSimpleVector3(const geometry_msgs::Point &point) {
00049 return SimpleVector3(point.x, point.y, point.z);
00050 }
00051
00052 SimpleVector3 TypeHelper::getSimpleVector3(const std::vector<double> &vector) {
00053 return SimpleVector3(vector.at(0), vector.at(1), vector.at(2));
00054 }
00055
00056
00057 SimpleVector4 TypeHelper::getSimpleVector4(const std::vector<double> &vector) {
00058 return SimpleVector4(vector[0], vector[1], vector[2], vector[3]);
00059 }
00060
00061 SimpleVector4 TypeHelper::getSimpleVector4(const std_msgs::ColorRGBA &color) {
00062 return SimpleVector4(color.r, color.g, color.b, color.a);
00063 }
00064
00065 SimpleQuaternion TypeHelper::getSimpleQuaternion(const geometry_msgs::Pose &pose) {
00066 return TypeHelper::getSimpleQuaternion(pose.orientation);
00067 }
00068
00069 SimpleQuaternion TypeHelper::getSimpleQuaternion(const geometry_msgs::Quaternion &quaternion) {
00070 return SimpleQuaternion(quaternion.w, quaternion.x, quaternion.y, quaternion.z);
00071 }
00072
00073 SimpleQuaternion TypeHelper::getSimpleQuaternion(const std::vector<double> &vector)
00074 {
00075 return SimpleQuaternion(vector.at(0), vector.at(1), vector.at(2), vector.at(3));
00076 }
00077
00078 geometry_msgs::Vector3 TypeHelper::getVector3(const SimpleVector3 &vector) {
00079 geometry_msgs::Vector3 result;
00080
00081 result.x = vector[0];
00082 result.y = vector[1];
00083 result.z = vector[2];
00084
00085 return result;
00086 }
00087
00088 std_msgs::ColorRGBA TypeHelper::getColor(const SimpleVector4 &vector) {
00089 std_msgs::ColorRGBA result;
00090
00091 result.r = vector[0];
00092 result.g = vector[1];
00093 result.b = vector[2];
00094 result.a = vector[3];
00095
00096 return result;
00097 }
00098
00099 }
asr_robot_model_services
Author(s): Aumann Florian, Borella Jocelyn, Heller Florian, Meißner Pascal, Schleicher Ralf, Stöckle Patrick, Stroh Daniel, Trautmann Jeremias, Walter Milena, Wittenbeck Valerij
autogenerated on Sat Jun 8 2019 18:24:52