network_of_poses.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

#pragma once

#include <mrpt_msgs/NetworkOfPoses.h>
#include <mrpt/graphs/CNetworkOfPoses.h>

namespace mrpt_bridge
{
// TODO - convert these methods into a common polymorphic method
void convert(
        const mrpt::graphs::CNetworkOfPoses2D& mrpt_graph,
        mrpt_msgs::NetworkOfPoses& ros_graph);

void convert(
        const mrpt::graphs::CNetworkOfPoses3D& mrpt_graph,
        mrpt_msgs::NetworkOfPoses& ros_graph);

void convert(
        const mrpt::graphs::CNetworkOfPoses2DInf& mrpt_graph,
        mrpt_msgs::NetworkOfPoses& ros_graph);

void convert(
        const mrpt::graphs::CNetworkOfPoses3DInf& mrpt_graph,
        mrpt_msgs::NetworkOfPoses& ros_graph);

void convert(
        const mrpt::graphs::CNetworkOfPoses2DInf_NA& mrpt_graph,
        mrpt_msgs::NetworkOfPoses& ros_graph);

void convert(
        const mrpt::graphs::CNetworkOfPoses3DInf_NA& mrpt_graph,
        mrpt_msgs::NetworkOfPoses& ros_graph);


void convert(
        const mrpt::graphs::CNetworkOfPoses2D& mrpt_graph,
        mrpt_msgs::NetworkOfPoses& ros_graph);

void convert(
        const mrpt::graphs::CNetworkOfPoses3D& mrpt_graph,
        mrpt_msgs::NetworkOfPoses& ros_graph);

void convert(
        const mrpt_msgs::NetworkOfPoses& ros_graph,
        mrpt::graphs::CNetworkOfPoses2DInf& mrpt_graph);

void convert(
        const mrpt_msgs::NetworkOfPoses& ros_graph,
        mrpt::graphs::CNetworkOfPoses3DInf& mrpt_graph);

void convert(
        const mrpt_msgs::NetworkOfPoses& ros_graph,
        mrpt::graphs::CNetworkOfPoses2DInf_NA& mrpt_graph);

void convert(
        const mrpt_msgs::NetworkOfPoses& ros_graph,
        mrpt::graphs::CNetworkOfPoses3DInf_NA& mrpt_graph);

}  // namespace mrpt_bridge