.. _file_include_soar_ros_msg_converters.hpp:

File converters.hpp
===================

|exhale_lsh| :ref:`Parent directory <dir_include_soar_ros_msg>` (``include/soar_ros/msg``)

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



Umbrella header for ROS 2 ↔ Soar WME message converters. 



.. contents:: Contents
   :local:
   :backlinks: none

Definition (``include/soar_ros/msg/converters.hpp``)
----------------------------------------------------


.. toctree::
   :maxdepth: 1

   program_listing_file_include_soar_ros_msg_converters.hpp.rst



Detailed Description
--------------------

Provides two free-function families in the ``soar_ros::msg`` namespace:

toSoar — ROS 2 message → Soar working memory
sml::Identifier*toSoar(sml::Identifier*parent,
constchar*attr,
constMsgType&msg);
 Creates a child ID WME under ``parent`` with attribute ``attr`` and recursively populates it to mirror the ROS 2 message field hierarchy. Returns the newly created ``sml::Identifier*``.

Typical use inside a ``soar_ros::Subscriber<T>::parse()`` override: voidparse(geometry_msgs::msg::PoseStampedmsg)override
{
soar_ros::msg::toSoar(m_pAgent->GetInputLink(),m_topic.c_str(),msg);
//ResultingWMEtree:
//<input-link>
//+--<topic>(ID)
//+--header(ID)
//|+--frame_id(string)
//|+--stamp(ID)
//|+--sec(int)
//|+--nanosec(int)
//+--pose(ID)
//+--position(ID)
//|+--x(float)y(float)z(float)
//+--orientation(ID)
//+--x(float)y(float)z(float)w(float)
}


fromSoar — Soar working memory → ROS 2 message
TfromSoar<T>(sml::Identifier*id);
 Reads the WME subtree rooted at ``id`` and returns the corresponding ROS 2 message of type ``T``.

Typical use inside a ``soar_ros::Publisher<T>::parse()`` override: geometry_msgs::msg::Twistparse(sml::Identifier*id)override
{
//Soarrulewrites:
//(<output-link>^cmd<c>)
//(<c>^linear<l>^angular<a>)
//(<l>^x1.0^y0.0^z0.0)
//(<a>^x0.0^y0.0^z0.5)
returnsoar_ros::msg::fromSoar<geometry_msgs::msg::Twist>(id);
}


Supported message types


- **std_msgs** : Bool, Int8/16/32/64, UInt8/16/32/64, Float32/64, String, Header

- **geometry_msgs** : Vector3, Point, Point32, Quaternion, Pose, PoseStamped, PoseWithCovariance, Twist, TwistStamped, Accel, Transform, TransformStamped



WME attribute naming
Attribute names match the ROS 2 field names exactly, including underscores (e.g. ``frame_id``, ``child_frame_id``, ``nanosec``). Nested message fields become child ID WMEs. The ``PoseWithCovariance`` covariance matrix is stored as 36 flat float attributes named ``covariance_0`` … ``covariance_35``. 






Includes
--------


- ``soar_ros/msg/geometry_msgs_converters.hpp`` (:ref:`file_include_soar_ros_msg_geometry_msgs_converters.hpp`)

- ``soar_ros/msg/std_msgs_converters.hpp`` (:ref:`file_include_soar_ros_msg_std_msgs_converters.hpp`)



Included By
-----------


- :ref:`file_include_soar_ros_soar_ros.hpp`