astra_ros: util.hpp Source File

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 #ifndef _ASTRA_ROS_UTIL_HPP_
 #define _ASTRA_ROS_UTIL_HPP_
  
 #include <vector>
  
 #include <sensor_msgs/Image.h>
 #include <visualization_msgs/MarkerArray.h>
 #include "astra_ros/Device.hpp"
 #include "astra_ros/ImageStreamMode.h"
 #include "astra_ros/Body.h"
 #include "astra_ros/Plane.h"
 #include <astra/capi/astra.h>
  
 namespace astra_ros
 {
   const std::string &statusToString(const astra_status_t status);
   sensor_msgs::Image toRos(const std::uint8_t *const data, const std::size_t length, const astra_image_metadata_t &metadata);
   sensor_msgs::Image toRos(const std::int16_t *const data, const std::size_t length, const astra_image_metadata_t &metadata);
   sensor_msgs::Image toRos(const astra_rgba_pixel_t *const data, const std::size_t length, const astra_image_metadata_t &metadata);
   sensor_msgs::Image toRos(const astra_floormask_t &floor_mask);
   Body toRos(const astra_body_t &body, const std_msgs::Header &header);
   std::vector<Body> toRos(const astra_body_list_t &body_list, const std_msgs::Header &header);
   Plane toRos(const astra_plane_t &plane);
   ImageStreamMode toRos(const Device::ImageStreamMode &image_stream_mode);
   Device::ImageStreamMode fromRos(const ImageStreamMode &image_stream_mode);
 } 
  
 #endif