.. _program_listing_file__tmp_ws_src_octomap_msgs_include_octomap_msgs_conversions.h:

Program Listing for File conversions.h
======================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_octomap_msgs_include_octomap_msgs_conversions.h>` (``/tmp/ws/src/octomap_msgs/include/octomap_msgs/conversions.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   
   /*
    * Copyright (c) 2011-2013, A. Hornung, University of Freiburg
    * 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 University of Freiburg 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
    * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
    * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
    * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
    * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
    * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
    * POSSIBILITY OF SUCH DAMAGE.
    */
   
   #ifndef OCTOMAP_MSGS_CONVERT_MSGS_H
   #define OCTOMAP_MSGS_CONVERT_MSGS_H
   
   #include <octomap/octomap.h>
   #include <octomap_msgs/msg/octomap.hpp>
   #include <octomap/ColorOcTree.h>
   
   // new conversion functions  
   namespace octomap_msgs{
     // Note: fullMsgDataToMap() deleted, potentially causes confusion 
     // and (silent) errors in deserialization
     
     static inline octomap::AbstractOcTree* fullMsgToMap(const octomap_msgs::msg::Octomap& msg){
       octomap::AbstractOcTree* tree = octomap::AbstractOcTree::createTree(msg.id, msg.resolution);    
       if (tree){
         std::stringstream datastream;
         if (msg.data.size() > 0){
       datastream.write((const char*) &msg.data[0], msg.data.size());
       tree->readData(datastream);
         }
       }
       
       return tree;      
     }
   
   
     template<class TreeType>
     void readTree(TreeType* octree, const octomap_msgs::msg::Octomap& msg){
       std::stringstream datastream;
       if (msg.data.size() > 0){
         datastream.write((const char*) &msg.data[0], msg.data.size());
         octree->readBinaryData(datastream);
       }
     }
       
     
     static inline octomap::AbstractOcTree* binaryMsgToMap(const octomap_msgs::msg::Octomap& msg){
       if (!msg.binary)
         return NULL;
   
       octomap::AbstractOcTree* tree;
       if (msg.id == "ColorOcTree"){
         octomap::ColorOcTree* octree = new octomap::ColorOcTree(msg.resolution);    
         readTree(octree, msg);
         tree = octree;
       } else {
         octomap::OcTree* octree = new octomap::OcTree(msg.resolution);    
         readTree(octree, msg);
         tree = octree;
       }
       return tree;      
     }
   
     // Note: binaryMsgDataToMap() deleted, potentially causes confusion 
     // and (silent) errors in deserialization
     
   
     static inline octomap::AbstractOcTree* msgToMap(const octomap_msgs::msg::Octomap& msg){
       if (msg.binary)
         return binaryMsgToMap(msg);
       else
         return fullMsgToMap(msg);
     }
   
     // conversions via stringstream
     
     // TODO: read directly into buffer? see
     // http://stackoverflow.com/questions/132358/how-to-read-file-content-into-istringstream
     
     template <class OctomapT>
     static inline bool binaryMapToMsgData(const OctomapT& octomap, std::vector<int8_t>& mapData){
       std::stringstream datastream;
       if (!octomap.writeBinaryConst(datastream))
         return false;
       
       std::string datastring = datastream.str();
       mapData = std::vector<int8_t>(datastring.begin(), datastring.end());
       return true;
     }
     
     template <class OctomapT>
     static inline bool fullMapToMsgData(const OctomapT& octomap, std::vector<int8_t>& mapData){
       std::stringstream datastream;
       if (!octomap.write(datastream))
         return false;
       
       std::string datastring = datastream.str();
       mapData = std::vector<int8_t>(datastring.begin(), datastring.end());
       return true;
     }
     
     template <class OctomapT>
     static inline bool binaryMapToMsg(const OctomapT& octomap, octomap_msgs::msg::Octomap& msg){
       msg.resolution = octomap.getResolution();
       msg.id = octomap.getTreeType();
       msg.binary = true;
       
       std::stringstream datastream;
       if (!octomap.writeBinaryData(datastream))
         return false;
       
       std::string datastring = datastream.str();
       msg.data = std::vector<int8_t>(datastring.begin(), datastring.end());
       return true;
     }
     
     template <class OctomapT>
     static inline bool fullMapToMsg(const OctomapT& octomap, octomap_msgs::msg::Octomap& msg){
       msg.resolution = octomap.getResolution();
       msg.id = octomap.getTreeType();
       msg.binary = false;
       
       std::stringstream datastream;
       if (!octomap.writeData(datastream))
         return false;
       
       std::string datastring = datastream.str();
       msg.data = std::vector<int8_t>(datastring.begin(), datastring.end());
       return true;
     }
   
   }
   
   
   #endif