00001 00020 #ifndef MYTYPEHELPER_HPP_ 00021 #define MYTYPEHELPER_HPP_ 00022 00023 #include <geometry_msgs/Pose.h> 00024 #include <geometry_msgs/Point.h> 00025 #include <geometry_msgs/Quaternion.h> 00026 #include <geometry_msgs/Vector3.h> 00027 #include <std_msgs/ColorRGBA.h> 00028 #include <vector> 00029 #include "robot_model_services/typedef.hpp" 00030 00031 namespace robot_model_services { 00032 class TypeHelper { 00033 public: 00034 static geometry_msgs::Point getPointMSG(const SimpleVector3 &vector); 00035 static geometry_msgs::Quaternion getQuaternionMSG(const SimpleQuaternion &quaternion); 00036 static SimpleVector3 getSimpleVector3(const geometry_msgs::Pose &pose); 00037 static SimpleVector3 getSimpleVector3(const geometry_msgs::Point &point); 00038 static SimpleVector3 getSimpleVector3(const std::vector<double> &vector); 00039 static SimpleVector4 getSimpleVector4(const std::vector<double> &vector); 00040 static SimpleVector4 getSimpleVector4(const std_msgs::ColorRGBA &color); 00041 static SimpleQuaternion getSimpleQuaternion(const geometry_msgs::Pose &pose); 00042 static SimpleQuaternion getSimpleQuaternion(const geometry_msgs::Quaternion &quaternion); 00043 static SimpleQuaternion getSimpleQuaternion(const std::vector<double> &vector); 00044 static geometry_msgs::Vector3 getVector3(const SimpleVector3 &vector); 00045 static std_msgs::ColorRGBA getColor(const SimpleVector4 &vector); 00046 }; 00047 } 00048 00049 00050 #endif /* MYTYPEHELPER_HPP_ */