convert.h
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00001 /*
00002  * Copyright (c) 2013, Open Source Robotics Foundation
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00032 #ifndef TF2_CONVERT_H
00033 #define TF2_CONVERT_H
00034 
00035 
00036 #include <tf2/transform_datatypes.h>
00037 #include <tf2/exceptions.h>
00038 #include <geometry_msgs/TransformStamped.h>
00039 #include <tf2/impl/convert.h>
00040 
00041 namespace tf2 {
00042 
00052 template <class T>
00053   void doTransform(const T& data_in, T& data_out, const geometry_msgs::TransformStamped& transform);
00054 
00060 template <class T>
00061   const ros::Time& getTimestamp(const T& t);
00062 
00068 template <class T>
00069   const std::string& getFrameId(const T& t);
00070 
00071 
00072 
00073 /* An implementation for Stamped<P> datatypes */
00074 template <class P>
00075   const ros::Time& getTimestamp(const tf2::Stamped<P>& t)
00076   {
00077     return t.stamp_;
00078   }
00079 
00080 /* An implementation for Stamped<P> datatypes */
00081 template <class P>
00082   const std::string& getFrameId(const tf2::Stamped<P>& t)
00083   {
00084     return t.frame_id_;
00085   }
00086 
00093 template<typename A, typename B>
00094   B toMsg(const A& a);
00095 
00102 template<typename A, typename B>
00103   void fromMsg(const A&, B& b);
00104 
00112 template <class A, class B>
00113   void convert(const A& a, B& b)
00114   {
00115     //printf("In double type convert\n");
00116     impl::Converter<ros::message_traits::IsMessage<A>::value, ros::message_traits::IsMessage<B>::value>::convert(a, b);
00117   }
00118 
00119 template <class A>
00120   void convert(const A& a1, A& a2)
00121   {
00122     //printf("In single type convert\n");
00123     if(&a1 != &a2)
00124       a2 = a1;
00125   }
00126 
00127 
00128 }
00129 
00130 #endif //TF2_CONVERT_H


tf2
Author(s): Tully Foote, Eitan Marder-Eppstein, Wim Meeussen
autogenerated on Thu Feb 22 2018 03:45:52