message_conversion.cpp

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/*
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#include <pose_graph/message_conversion.h>
#include <graph_mapping_utils/geometry.h>
#include <boost/foreach.hpp>

namespace pose_graph
{

msg::ConstraintGraphMessage constraintGraphToMessage (const ConstraintGraph& g)
{
  msg::ConstraintGraphMessage m;
  NodeSet nodes = g.allNodes();
  ROS_DEBUG_STREAM_NAMED ("message_conversion", "Converting graph with " << nodes.size() <<
                          " nodes to message");
  m.nodes.clear();
  m.edges.clear();
  BOOST_FOREACH (const unsigned n, nodes) {
    msg::Node node;
    node.id = n;
    if (g.hasOptimizedPose(n)) {
      node.optimized_pose.resize(1);
      node.optimized_pose[0] = graph_mapping_utils::toPose(g.getOptimizedPose(n));
    }
    m.nodes.push_back(node);
  }

  BOOST_FOREACH (const unsigned e, g.allEdges()) {
    msg::Edge edge;
    edge.id = e;
    std::pair<unsigned, unsigned> nodes = g.incidentNodes(e);
    edge.constraint.src = nodes.first;
    edge.constraint.dest = nodes.second;
    edge.constraint.constraint = g.getConstraint(e);
    m.edges.push_back(edge);
  }
  return m;
}

ConstraintGraph constraintGraphFromMessage (const msg::ConstraintGraphMessage& m)
{
  ConstraintGraph g;
  ROS_DEBUG_STREAM_NAMED ("message_conversion", "Converting graph from message with " << m.nodes.size() <<
                          " nodes ");
  ROS_ASSERT (g.allNodes().empty());
  BOOST_FOREACH (const msg::Node& n, m.nodes) {
    const unsigned id = n.id;
    g.addNode(id);
    if (n.optimized_pose.size() == 1)
      g.setOptimizedPose(id, graph_mapping_utils::toPose(n.optimized_pose[0]));
  }

  BOOST_FOREACH (const msg::Edge& e, m.edges)
    g.addEdge(e.id, e.constraint.src, e.constraint.dest, e.constraint.constraint);
  
  return g;
}

void applyDiff (ConstraintGraph* g, const msg::ConstraintGraphDiff& diff)
{
  ROS_ASSERT (diff.new_nodes.size() == diff.new_node_timestamps.size());
  BOOST_FOREACH (const msg::Node& n, diff.new_nodes) {
    g->addNode(n.id);
  }
  BOOST_FOREACH (const msg::Edge& e, diff.new_edges) {
    g->addEdge(e.id, e.constraint.src, e.constraint.dest, e.constraint.constraint);
  }
}


} // namespace pose_graph

---

pose_graph
Author(s): Bhaskara Marthi
autogenerated on Fri Jan 11 09:37:03 2013