trajectory_tracker_msgs: converter.h Source File

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00001 /*
00002  * Copyright (c) 2018, the neonavigation authors
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
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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.
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00015  *       this software without specific prior written permission.
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00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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00029 
00030 #ifndef TRAJECTORY_TRACKER_MSGS_CONVERTER_H
00031 #define TRAJECTORY_TRACKER_MSGS_CONVERTER_H
00032 
00033 #include <geometry_msgs/PoseStamped.h>
00034 #include <geometry_msgs/Vector3.h>
00035 #include <nav_msgs/Path.h>
00036 #include <trajectory_tracker_msgs/PathWithVelocity.h>
00037 
00038 namespace trajectory_tracker_msgs
00039 {
00040 inline PathWithVelocity toPathWithVelocity(
00041     const nav_msgs::Path& src,
00042     const double vel)
00043 {
00044   PathWithVelocity dest;
00045   dest.header = src.header;
00046   dest.poses.clear();
00047   dest.poses.reserve(src.poses.size());
00048   for (const geometry_msgs::PoseStamped& p : src.poses)
00049   {
00050     PoseStampedWithVelocity pv;
00051     pv.header = p.header;
00052     pv.pose = p.pose;
00053     pv.linear_velocity.x = vel;
00054     dest.poses.push_back(pv);
00055   }
00056   return dest;
00057 }
00058 inline PathWithVelocity toPathWithVelocity(
00059     const nav_msgs::Path& src,
00060     const geometry_msgs::Vector3& vel)
00061 {
00062   PathWithVelocity dest;
00063   dest.header = src.header;
00064   dest.poses.clear();
00065   dest.poses.reserve(src.poses.size());
00066   for (const geometry_msgs::PoseStamped& p : src.poses)
00067   {
00068     PoseStampedWithVelocity pv;
00069     pv.header = p.header;
00070     pv.pose = p.pose;
00071     pv.linear_velocity = vel;
00072     dest.poses.push_back(pv);
00073   }
00074   return dest;
00075 }
00076 }  // namespace trajectory_tracker_msgs
00077 
00078 #endif  // TRAJECTORY_TRACKER_MSGS_CONVERTER_H