messages.h

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/*
 * Copyright (c) 2010, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 */

#ifndef RVE_PROPERTIES_MESSAGES_H
#define RVE_PROPERTIES_MESSAGES_H

#include "property_value.h"

#include <rve_msgs/Vector3.h>
#include <rve_msgs/Quaternion.h>

namespace rve_properties
{

template<typename T>
struct Vector3Traits
{
  inline static const char* typeName() { return "vector3"; }

  inline static std::string toString(void* mem)
  {
    T* t = reinterpret_cast<T*>(mem);
    std::ostringstream os;
    os << t->x << " " << t->y << " " << t->z;
    return os.str();
  }

  inline static void fromString(void* mem, const std::string& str)
  {
    T* t = reinterpret_cast<T*>(mem);
    std::istringstream is(str);
    is >> t->x;
    is.ignore();
    is >> t->y;
    is.ignore();
    is >> t->z;
  }
};

template<typename T>
struct QuaternionTraits
{
  inline static const char* typeName() { return "quaternion"; }

  inline static std::string toString(void* mem)
  {
    T* t = reinterpret_cast<T*>(mem);
    std::ostringstream os;
    os << t->x << " " << t->y << " " << t->z << " " << t->w;
    return os.str();
  }

  inline static void fromString(void* mem, const std::string& str)
  {
    T* t = reinterpret_cast<T*>(mem);
    std::istringstream is(str);
    is >> t->x;
    is.ignore();
    is >> t->y;
    is.ignore();
    is >> t->z;
    is.ignore();
    is >> t->w;
  }
};

template<>
struct ValueTraits<rve_msgs::Vector3> : public Vector3Traits<rve_msgs::Vector3>
{
};

template<>
struct ValueTraits<rve_msgs::Quaternion> : public QuaternionTraits<rve_msgs::Quaternion>
{
};

}

#endif // RVE_PROPERTIES_MESSAGES_H