rtt_kdl_conversions: kdl_conversions-types.cpp Source File

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00001 #include <rtt/types/TypekitPlugin.hpp>
00002 #include <rtt/internal/GlobalService.hpp>
00003 #include <kdl_conversions/kdl_msg.h>
00004 
00005 namespace KDL
00006 {
00010   class KDLConversionTypekitPlugin
00011     : public RTT::types::TypekitPlugin
00012   {
00013   public:
00014       std::string getName(){return "KDLConversions";};
00015       bool loadTypes(){return true;};
00016       bool loadConstructors(){return true;};
00017       bool loadOperators()
00018       {
00019           RTT::Service::shared_ptr gs = RTT::internal::GlobalService::Instance();
00020           gs->provides("KDL")->addOperation("pointMsgToKDL",&tf::pointMsgToKDL);
00021           gs->provides("KDL")->addOperation("pointKDLToMsg",&tf::pointKDLToMsg);
00022           gs->provides("KDL")->addOperation("poseMsgToKDL",&tf::poseMsgToKDL);
00023           gs->provides("KDL")->addOperation("poseKDLToMsg",&tf::poseKDLToMsg);
00024           gs->provides("KDL")->addOperation("quaternionMsgToKDL",&tf::quaternionMsgToKDL);
00025           gs->provides("KDL")->addOperation("quaternionKDLToMsg",&tf::quaternionKDLToMsg);
00026           gs->provides("KDL")->addOperation("transformMsgToKDL",&tf::transformMsgToKDL);
00027           gs->provides("KDL")->addOperation("transformKDLToMsg",&tf::transformKDLToMsg);
00028           gs->provides("KDL")->addOperation("twistMsgToKDL",&tf::twistMsgToKDL);
00029           gs->provides("KDL")->addOperation("twistKDLToMsg",&tf::twistKDLToMsg);
00030           gs->provides("KDL")->addOperation("vectorMsgToKDL",&tf::vectorMsgToKDL);
00031           gs->provides("KDL")->addOperation("vectorKDLToMsg",&tf::vectorKDLToMsg);
00032           gs->provides("KDL")->addOperation("wrenchMsgToKDL",&tf::wrenchMsgToKDL);
00033           gs->provides("KDL")->addOperation("wrenchKDLToMsg",&tf::wrenchKDLToMsg);
00034           gs->provides("KDL")->addOperation("TwistToMsg",&tf::TwistKDLToMsg);
00035           gs->provides("KDL")->addOperation("MsgToTwist",&tf::TwistMsgToKDL);
00036           gs->provides("KDL")->addOperation("FrameToMsg",&tf::PoseKDLToMsg);
00037           gs->provides("KDL")->addOperation("MsgToFrame",&tf::PoseMsgToKDL);
00038           return true;
00039       }
00040   };
00044     extern KDLConversionTypekitPlugin KDLTypekit;
00045 }
00046 
00047 ORO_TYPEKIT_PLUGIN(KDL::KDLConversionTypekitPlugin)