nav_2d_utils: conversions.h Source File

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00034 
00035 #ifndef NAV_2D_UTILS_CONVERSIONS_H
00036 #define NAV_2D_UTILS_CONVERSIONS_H
00037 
00038 #include <ros/ros.h>
00039 #include <geometry_msgs/Pose.h>
00040 #include <geometry_msgs/Twist.h>
00041 #include <nav_2d_msgs/Twist2D.h>
00042 #include <nav_2d_msgs/Path2D.h>
00043 #include <nav_2d_msgs/Pose2DStamped.h>
00044 #include <nav_2d_msgs/NavGridInfo.h>
00045 #include <nav_2d_msgs/UIntBounds.h>
00046 #include <nav_msgs/MapMetaData.h>
00047 #include <nav_msgs/Path.h>
00048 #include <nav_grid/nav_grid.h>
00049 #include <nav_core2/bounds.h>
00050 #include <tf/tf.h>
00051 #include <vector>
00052 #include <string>
00053 
00054 namespace nav_2d_utils
00055 {
00056 // Twist Transformations
00057 geometry_msgs::Twist twist2Dto3D(const nav_2d_msgs::Twist2D& cmd_vel_2d);
00058 nav_2d_msgs::Twist2D twist3Dto2D(const geometry_msgs::Twist& cmd_vel);
00059 
00060 // Pose Transformations
00061 nav_2d_msgs::Pose2DStamped stampedPoseToPose2D(const tf::Stamped<tf::Pose>& pose);
00062 nav_2d_msgs::Pose2DStamped poseStampedToPose2D(const geometry_msgs::PoseStamped& pose);
00063 geometry_msgs::Pose pose2DToPose(const geometry_msgs::Pose2D& pose2d);
00064 geometry_msgs::PoseStamped pose2DToPoseStamped(const nav_2d_msgs::Pose2DStamped& pose2d);
00065 geometry_msgs::PoseStamped pose2DToPoseStamped(const geometry_msgs::Pose2D& pose2d,
00066                                                const std::string& frame, const ros::Time& stamp);
00067 
00068 // Path Transformations
00069 nav_2d_msgs::Path2D pathToPath(const nav_msgs::Path& path);
00070 nav_msgs::Path posesToPath(const std::vector<geometry_msgs::PoseStamped>& poses);
00071 nav_2d_msgs::Path2D posesToPath2D(const std::vector<geometry_msgs::PoseStamped>& poses);
00072 nav_msgs::Path poses2DToPath(const std::vector<geometry_msgs::Pose2D>& poses,
00073                              const std::string& frame, const ros::Time& stamp);
00074 nav_msgs::Path pathToPath(const nav_2d_msgs::Path2D& path2d);
00075 
00076 // Info Transformations
00077 nav_2d_msgs::NavGridInfo toMsg(const nav_grid::NavGridInfo& info);
00078 nav_grid::NavGridInfo fromMsg(const nav_2d_msgs::NavGridInfo& msg);
00079 nav_grid::NavGridInfo infoToInfo(const nav_msgs::MapMetaData& metadata);
00080 nav_msgs::MapMetaData infoToInfo(const nav_grid::NavGridInfo & info);
00081 
00082 // Bounds Transformations
00083 nav_2d_msgs::UIntBounds toMsg(const nav_core2::UIntBounds& bounds);
00084 nav_core2::UIntBounds fromMsg(const nav_2d_msgs::UIntBounds& msg);
00085 
00086 }  // namespace nav_2d_utils
00087 
00088 #endif  // NAV_2D_UTILS_CONVERSIONS_H