src/beacon.h

Go to the documentation of this file.

#ifndef MRPT_BRIDGE_BEACON_H
#define MRPT_BRIDGE_BEACON_H



#include <stdint.h>
#include <string>

namespace std{
    template <class T> class allocator;
}

namespace geometry_msgs{
    template <class ContainerAllocator> struct Pose_;
    typedef Pose_<std::allocator<void> > Pose;
}

namespace mrpt_msgs{
    template <class ContainerAllocator> struct ObservationRangeBeacon_;
    typedef ObservationRangeBeacon_<std::allocator<void> > ObservationRangeBeacon;
}

namespace mrpt { namespace poses { class CPose3D; } }
#include <mrpt/version.h>
#if MRPT_VERSION>=0x130
        namespace mrpt { namespace obs { class CObservationBeaconRanges; } }
#else
        namespace mrpt { namespace slam  { class CObservationBeaconRanges; } }
#endif

namespace mrpt_bridge {

        bool convert(
                        const mrpt_msgs::ObservationRangeBeacon &_msg,
                        const mrpt::poses::CPose3D &_pose,
#if MRPT_VERSION>=0x130
                        mrpt::obs::CObservationBeaconRanges &_obj
#else
                        mrpt::slam::CObservationBeaconRanges &_obj
#endif
                        );

        bool convert(
#if MRPT_VERSION>=0x130
                const mrpt::obs::CObservationBeaconRanges &_obj,
#else
                const mrpt::slam::CObservationBeaconRanges &_obj,
#endif
                mrpt_msgs::ObservationRangeBeacon &_msg);

        bool convert(
                #if MRPT_VERSION>=0x130
                                const mrpt::obs::CObservationBeaconRanges &_obj,
                #else
                                const mrpt::slam::CObservationBeaconRanges &_obj,
                #endif
                mrpt_msgs::ObservationRangeBeacon &_msg,
                geometry_msgs::Pose &_pose);

} //namespace mrpt_bridge

#endif //MRPT_BRIDGE_BEACON_H