TypeHelper.hpp

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#ifndef MYTYPEHELPER_HPP_
#define MYTYPEHELPER_HPP_

#include <geometry_msgs/Pose.h>
#include <geometry_msgs/Point.h>
#include <geometry_msgs/Quaternion.h>
#include <geometry_msgs/Vector3.h>
#include <std_msgs/ColorRGBA.h>
#include <vector>
#include "robot_model_services/typedef.hpp"

namespace robot_model_services {
        class TypeHelper {
        public:
                static geometry_msgs::Point getPointMSG(const SimpleVector3 &vector);
        static geometry_msgs::Quaternion getQuaternionMSG(const SimpleQuaternion &quaternion);
                static SimpleVector3 getSimpleVector3(const geometry_msgs::Pose &pose);
                static SimpleVector3 getSimpleVector3(const geometry_msgs::Point &point);
        static SimpleVector3 getSimpleVector3(const std::vector<double> &vector);
        static SimpleVector4 getSimpleVector4(const std::vector<double> &vector);
        static SimpleVector4 getSimpleVector4(const std_msgs::ColorRGBA &color);
                static SimpleQuaternion getSimpleQuaternion(const geometry_msgs::Pose &pose);
                static SimpleQuaternion getSimpleQuaternion(const geometry_msgs::Quaternion &quaternion);
        static SimpleQuaternion getSimpleQuaternion(const std::vector<double> &vector);
        static geometry_msgs::Vector3 getVector3(const SimpleVector3 &vector);
        static std_msgs::ColorRGBA getColor(const SimpleVector4 &vector);
        };
}


#endif /* MYTYPEHELPER_HPP_ */