Program Listing for File pose_json.hpp

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#ifndef TUW_JSON__POSE_JSON_HPP_
#define TUW_JSON__POSE_JSON_HPP_

#include <geometry_msgs/msg/pose.hpp>
#include <tuw_geometry_msgs/point_json.hpp>
#include <tuw_geometry_msgs/quaternion_json.hpp>

namespace tuw_json
{
inline Json::Value toJson(const geometry_msgs::msg::Pose & src)
{
  Json::Value json;
  json["position"] = toJson(src.position);
  json["orientation"] = toJson(src.orientation);
  return json;
}

inline geometry_msgs::msg::Pose & fromJson(const Json::Value & json, geometry_msgs::msg::Pose & des)
{
  fromJson(json.get("position", ""), des.position);
  fromJson(json.get("orientation", ""), des.orientation);
  return des;
}
}  // namespace tuw_json
#endif  // TUW_JSON__POSE_JSON_HPP_