range.h

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, 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 |
   +------------------------------------------------------------------------+ */

/*---------------------------------------------------------------
        APPLICATION: mrpt_ros bridge
        FILE: range.h
        AUTHOR: Raghavender Sahdev <raghavendersahdev@gmail.com>
  ---------------------------------------------------------------*/

#ifndef MRPT_BRIDGE_RANGE_H
#define MRPT_BRIDGE_RANGE_H

#include <sensor_msgs/Range.h>
#include <mrpt/obs/CObservationRange.h>

using namespace mrpt::obs;



namespace mrpt_bridge
{
    namespace range
    {
        bool ros2mrpt(const sensor_msgs::Range &msg,
                      CObservationRange &obj);

        bool mrpt2ros(const CObservationRange &obj,
                      const std_msgs::Header &msg_header,
                      sensor_msgs::Range *msg);
    }
}

#endif //MRPT_BRIDGE_RANGE_H