converter.h

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/*
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#ifndef TRAJECTORY_TRACKER_MSGS_CONVERTER_H
#define TRAJECTORY_TRACKER_MSGS_CONVERTER_H
 
#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/Vector3.h>
#include <nav_msgs/Path.h>
#include <trajectory_tracker_msgs/PathWithVelocity.h>
 
namespace trajectory_tracker_msgs
{
inline PathWithVelocity toPathWithVelocity(
    const nav_msgs::Path& src,
    const double vel)
{
  PathWithVelocity dest;
  dest.header = src.header;
  dest.poses.clear();
  dest.poses.reserve(src.poses.size());
  for (const geometry_msgs::PoseStamped& p : src.poses)
  {
    PoseStampedWithVelocity pv;
    pv.header = p.header;
    pv.pose = p.pose;
    pv.linear_velocity.x = vel;
    dest.poses.push_back(pv);
  }
  return dest;
}
inline PathWithVelocity toPathWithVelocity(
    const nav_msgs::Path& src,
    const geometry_msgs::Vector3& vel)
{
  PathWithVelocity dest;
  dest.header = src.header;
  dest.poses.clear();
  dest.poses.reserve(src.poses.size());
  for (const geometry_msgs::PoseStamped& p : src.poses)
  {
    PoseStampedWithVelocity pv;
    pv.header = p.header;
    pv.pose = p.pose;
    pv.linear_velocity = vel;
    dest.poses.push_back(pv);
  }
  return dest;
}
}  // namespace trajectory_tracker_msgs
 
#endif  // TRAJECTORY_TRACKER_MSGS_CONVERTER_H