conversions.h

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/*
 * Copyright (c) 2011-2013, A. Hornung, University of Freiburg
 * All rights reserved.
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 *       this software without specific prior written permission.
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#ifndef OCTOMAP_MSGS_CONVERT_MSGS_H
#define OCTOMAP_MSGS_CONVERT_MSGS_H
 
#include <octomap/octomap.h>
#include <octomap_msgs/Octomap.h>
#include <octomap/ColorOcTree.h>
 
// new conversion functions  
namespace octomap_msgs{
  // Note: fullMsgDataToMap() deleted, potentially causes confusion 
  // and (silent) errors in deserialization
  
  static inline octomap::AbstractOcTree* fullMsgToMap(const Octomap& msg){
    octomap::AbstractOcTree* tree = octomap::AbstractOcTree::createTree(msg.id, msg.resolution);    
    if (tree){
      std::stringstream datastream;
      if (msg.data.size() > 0){
        datastream.write((const char*) &msg.data[0], msg.data.size());
        tree->readData(datastream);
      }
    }
    
    return tree;      
  }
 
 
  template<class TreeType>
  void readTree(TreeType* octree, const Octomap& msg){
    std::stringstream datastream;
    if (msg.data.size() > 0){
      datastream.write((const char*) &msg.data[0], msg.data.size());
      octree->readBinaryData(datastream);
    }
  }
    
  
  static inline octomap::AbstractOcTree* binaryMsgToMap(const Octomap& msg){
    if (!msg.binary)
      return NULL;
 
    octomap::AbstractOcTree* tree;
    if (msg.id == "ColorOcTree"){
      octomap::ColorOcTree* octree = new octomap::ColorOcTree(msg.resolution);    
      readTree(octree, msg);
      tree = octree;
    } else {
      octomap::OcTree* octree = new octomap::OcTree(msg.resolution);    
      readTree(octree, msg);
      tree = octree;
    }
    return tree;      
  }
 
  // Note: binaryMsgDataToMap() deleted, potentially causes confusion 
  // and (silent) errors in deserialization
  
 
  static inline octomap::AbstractOcTree* msgToMap(const Octomap& msg){
    if (msg.binary)
      return binaryMsgToMap(msg);
    else
      return fullMsgToMap(msg);
  }
 
  // conversions via stringstream
  
  // TODO: read directly into buffer? see
  // http://stackoverflow.com/questions/132358/how-to-read-file-content-into-istringstream
  
  template <class OctomapT>
  static inline bool binaryMapToMsgData(const OctomapT& octomap, std::vector<int8_t>& mapData){
    std::stringstream datastream;
    if (!octomap.writeBinaryConst(datastream))
      return false;
    
    std::string datastring = datastream.str();
    mapData = std::vector<int8_t>(datastring.begin(), datastring.end());
    return true;
  }
  
  template <class OctomapT>
  static inline bool fullMapToMsgData(const OctomapT& octomap, std::vector<int8_t>& mapData){
    std::stringstream datastream;
    if (!octomap.write(datastream))
      return false;
    
    std::string datastring = datastream.str();
    mapData = std::vector<int8_t>(datastring.begin(), datastring.end());
    return true;
  }
  
  template <class OctomapT>
  static inline bool binaryMapToMsg(const OctomapT& octomap, Octomap& msg){
    msg.resolution = octomap.getResolution();
    msg.id = octomap.getTreeType();
    msg.binary = true;
    
    std::stringstream datastream;
    if (!octomap.writeBinaryData(datastream))
      return false;
    
    std::string datastring = datastream.str();
    msg.data = std::vector<int8_t>(datastring.begin(), datastring.end());
    return true;
  }
  
  template <class OctomapT>
  static inline bool fullMapToMsg(const OctomapT& octomap, Octomap& msg){
    msg.resolution = octomap.getResolution();
    msg.id = octomap.getTreeType();
    msg.binary = false;
    
    std::stringstream datastream;
    if (!octomap.writeData(datastream))
      return false;
    
    std::string datastring = datastream.str();
    msg.data = std::vector<int8_t>(datastring.begin(), datastring.end());
    return true;
  }
 
}
 
 
#endif