msg_conversions.h

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/*
 * Copyright (c) 2012, Willow Garage, Inc.
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#ifndef MSG_CONVERSIONS_H
#define MSG_CONVERSIONS_H
 
#include <rviz/ogre_helpers/ogre_vector.h>
#include <OgreQuaternion.h>
 
#include <geometry_msgs/Point.h>
#include <geometry_msgs/Vector3.h>
#include <geometry_msgs/Quaternion.h>
 
namespace rviz
{
// This file contains some convenience functions for Ogre / geometry_msgs conversions.
 
// pointMsgToOgre  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //
static inline Ogre::Vector3 pointMsgToOgre(const geometry_msgs::Point& m)
{
  return Ogre::Vector3(m.x, m.y, m.z);
}
 
static inline void pointMsgToOgre(const geometry_msgs::Point& m, Ogre::Vector3& o)
{
  o.x = m.x;
  o.y = m.y;
  o.z = m.z;
}
 
// vector3MsgToOgre  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //
static inline Ogre::Vector3 vector3MsgToOgre(const geometry_msgs::Vector3& m)
{
  return Ogre::Vector3(m.x, m.y, m.z);
}
 
 
static inline void vector3MsgToOgre(const geometry_msgs::Vector3& m, Ogre::Vector3& o)
{
  o.x = m.x;
  o.y = m.y;
  o.z = m.z;
}
 
// quaternionMsgToOgre  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //
static inline Ogre::Quaternion quaternionMsgToOgre(const geometry_msgs::Quaternion& m)
{
  return Ogre::Quaternion(m.w, m.x, m.y, m.z);
}
 
static inline void quaternionMsgToOgre(const geometry_msgs::Quaternion& m, Ogre::Quaternion& o)
{
  o.w = m.w;
  o.x = m.x;
  o.y = m.y;
  o.z = m.z;
}
 
// pointOgreToMsg  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //
static inline void pointOgreToMsg(const Ogre::Vector3& o, geometry_msgs::Point& m)
{
  m.x = o.x;
  m.y = o.y;
  m.z = o.z;
}
 
static inline geometry_msgs::Point pointOgreToMsg(const Ogre::Vector3& o)
{
  geometry_msgs::Point m;
  pointOgreToMsg(o, m);
  return m;
}
 
// vectorOgreToMsg  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //
static inline void vector3OgreToMsg(const Ogre::Vector3& o, geometry_msgs::Vector3& m)
{
  m.x = o.x;
  m.y = o.y;
  m.z = o.z;
}
 
static inline geometry_msgs::Vector3 vector3OgreToMsg(const Ogre::Vector3& o)
{
  geometry_msgs::Vector3 m;
  vector3OgreToMsg(o, m);
  return m;
}
 
// quaternionOgreToMsg  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //
static inline void quaternionOgreToMsg(const Ogre::Quaternion& o, geometry_msgs::Quaternion& m)
{
  m.w = o.w;
  m.x = o.x;
  m.y = o.y;
  m.z = o.z;
}
 
static inline geometry_msgs::Quaternion quaternionOgreToMsg(const Ogre::Quaternion& o)
{
  geometry_msgs::Quaternion m;
  quaternionOgreToMsg(o, m);
  return m;
}
 
 
} // namespace rviz
 
#endif