Program Listing for File network_of_poses.hpp

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/* +------------------------------------------------------------------------+
   |                             mrpt_navigation                            |
   |                                                                        |
   | Copyright (c) 2014-2024, Individual contributors, see commit authors   |
   | See: https://github.com/mrpt-ros-pkg/mrpt_navigation                   |
   | All rights reserved. Released under BSD 3-Clause license. See LICENSE  |
   +------------------------------------------------------------------------+ */

#pragma once

#include <mrpt/graphs/CNetworkOfPoses.h>

#include <mrpt_msgs/msg/network_of_poses.hpp>

namespace mrpt_msgs_bridge
{
// TODO - convert these methods into a common polymorphic method
void toROS(
    const mrpt::graphs::CNetworkOfPoses2D& mrpt_graph,
    mrpt_msgs::msg::NetworkOfPoses& ros_graph);

void toROS(
    const mrpt::graphs::CNetworkOfPoses3D& mrpt_graph,
    mrpt_msgs::msg::NetworkOfPoses& ros_graph);

void toROS(
    const mrpt::graphs::CNetworkOfPoses2DInf& mrpt_graph,
    mrpt_msgs::msg::NetworkOfPoses& ros_graph);

void toROS(
    const mrpt::graphs::CNetworkOfPoses3DInf& mrpt_graph,
    mrpt_msgs::msg::NetworkOfPoses& ros_graph);

void toROS(
    const mrpt::graphs::CNetworkOfPoses2DInf_NA& mrpt_graph,
    mrpt_msgs::msg::NetworkOfPoses& ros_graph);

void toROS(
    const mrpt::graphs::CNetworkOfPoses3DInf_NA& mrpt_graph,
    mrpt_msgs::msg::NetworkOfPoses& ros_graph);


void fromROS(
    const mrpt::graphs::CNetworkOfPoses2D& mrpt_graph,
    mrpt_msgs::msg::NetworkOfPoses& ros_graph);

void fromROS(
    const mrpt::graphs::CNetworkOfPoses3D& mrpt_graph,
    mrpt_msgs::msg::NetworkOfPoses& ros_graph);

void fromROS(
    const mrpt_msgs::msg::NetworkOfPoses& ros_graph,
    mrpt::graphs::CNetworkOfPoses2DInf& mrpt_graph);

void fromROS(
    const mrpt_msgs::msg::NetworkOfPoses& ros_graph,
    mrpt::graphs::CNetworkOfPoses3DInf& mrpt_graph);

void fromROS(
    const mrpt_msgs::msg::NetworkOfPoses& ros_graph,
    mrpt::graphs::CNetworkOfPoses2DInf_NA& mrpt_graph);

void fromROS(
    const mrpt_msgs::msg::NetworkOfPoses& ros_graph,
    mrpt::graphs::CNetworkOfPoses3DInf_NA& mrpt_graph);

}  // namespace mrpt_msgs_bridge