json_conversions_common.h
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32 
33 #ifndef RC_JSON_CONVERSIONS_COMMON_H
34 #define RC_JSON_CONVERSIONS_COMMON_H
35 
36 #include <ros/ros.h>
37 
38 #include <geometry_msgs/Point.h>
39 #include <geometry_msgs/Pose.h>
40 #include <geometry_msgs/Quaternion.h>
41 #include <geometry_msgs/Vector3.h>
42 #include <geometry_msgs/PoseStamped.h>
43 
44 #include <json/json.hpp>
45 
46 namespace geometry_msgs
47 {
48 inline void to_json(nlohmann::json& j, const geometry_msgs::Point& r)
49 {
50  j = nlohmann::json{ { "x", r.x }, { "y", r.y }, { "z", r.z } };
51 }
52 
53 inline void from_json(const nlohmann::json& j, geometry_msgs::Point& r)
54 {
55  j.at("x").get_to(r.x);
56  j.at("y").get_to(r.y);
57  j.at("z").get_to(r.z);
58 }
59 
60 inline void to_json(nlohmann::json& j, const geometry_msgs::Vector3& r)
61 {
62  j = nlohmann::json{ { "x", r.x }, { "y", r.y }, { "z", r.z } };
63 }
64 
65 inline void from_json(const nlohmann::json& j, geometry_msgs::Vector3& r)
66 {
67  j.at("x").get_to(r.x);
68  j.at("y").get_to(r.y);
69  j.at("z").get_to(r.z);
70 }
71 
72 inline void to_json(nlohmann::json& j, const geometry_msgs::Quaternion& r)
73 {
74  j = nlohmann::json{ { "x", r.x }, { "y", r.y }, { "z", r.z }, { "w", r.w } };
75 }
76 
77 inline void from_json(const nlohmann::json& j, geometry_msgs::Quaternion& r)
78 {
79  j.at("x").get_to(r.x);
80  j.at("y").get_to(r.y);
81  j.at("z").get_to(r.z);
82  j.at("w").get_to(r.w);
83 }
84 
85 inline void to_json(nlohmann::json& j, const geometry_msgs::Pose& r)
86 {
87  j["position"] = r.position;
88  j["orientation"] = r.orientation;
89 }
90 
91 inline void from_json(const nlohmann::json& j, geometry_msgs::Pose& r)
92 {
93  j.at("position").get_to(r.position);
94  j.at("orientation").get_to(r.orientation);
95 }
96 
97 } // namespace geometry_msgs
98 
99 namespace ros
100 {
101 inline void to_json(nlohmann::json& j, const ros::Time& r)
102 {
103  j["sec"] = r.sec;
104  j["nsec"] = r.nsec;
105 }
106 
107 inline void from_json(const nlohmann::json& j, ros::Time& r)
108 {
109  j.at("sec").get_to(r.sec);
110  j.at("nsec").get_to(r.nsec);
111 }
112 
113 } // namespace ros
114 
115 #endif // RC_JSON_CONVERSIONS_COMMON_H
nlohmann::json json
Definition: pick_client.h:57
void from_json(const nlohmann::json &j, geometry_msgs::Point &r)
void to_json(nlohmann::json &j, const geometry_msgs::Point &r)


rc_pick_client
Author(s): Monika Florek-Jasinska
autogenerated on Sat Feb 13 2021 03:41:57