common.h
Go to the documentation of this file.00001 /* 00002 * Copyright (c) 2008, Willow Garage, Inc. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the Willow Garage, Inc. nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 */ 00029 00030 #ifndef RVIZ_COMMON_H 00031 #define RVIZ_COMMON_H 00032 00033 #ifndef RVIZ_COMMON_H_NOWARN 00034 #warning "This header is deprecated! Conversions between ROS and Ogre are not needed anymore." 00035 #endif 00036 00037 #include <OGRE/OgreVector3.h> 00038 #include <OGRE/OgreQuaternion.h> 00039 #include <OGRE/OgreMatrix3.h> 00040 00041 #include <boost/function.hpp> 00042 00047 namespace rviz 00048 { 00049 00050 extern Ogre::Matrix3 g_ogre_to_robot_matrix; 00051 extern Ogre::Matrix3 g_robot_to_ogre_matrix; 00052 00053 extern Ogre::Quaternion g_ogre_to_robot_quat; 00054 extern Ogre::Quaternion g_robot_to_ogre_quat; 00055 00056 void initializeCommon(); 00057 inline void robotToOgre( Ogre::Vector3& point ) {} 00058 inline void scaleRobotToOgre( Ogre::Vector3& scale ) {} 00059 inline void robotToOgre( Ogre::Quaternion& quat ) {} 00060 inline void robotToOgre( Ogre::Matrix3& mat ) {} 00061 inline void ogreToRobot( Ogre::Vector3& point ) {} 00062 inline void scaleOgreToRobot( Ogre::Vector3& scale ) {} 00063 inline void ogreToRobot( Ogre::Quaternion& quat ) {} 00064 inline void ogreToRobot( Ogre::Matrix3& mat ) {} 00065 00066 inline Ogre::Matrix3 ogreMatrixFromRobotEulers( float yaw, float pitch, float roll ) 00067 { 00068 Ogre::Matrix3 mat; 00069 mat.FromEulerAnglesZYX( Ogre::Radian( yaw ), Ogre::Radian( pitch ), Ogre::Radian( roll ) ); 00070 return mat; 00071 } 00072 00073 } 00074 #endif