sick_scan_api_converter.h

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/*
* Copyright (C) 2022, Ing.-Buero Dr. Michael Lehning, Hildesheim
* Copyright (C) 2022, SICK AG, Waldkirch
* All rights reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
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*      Authors:
*         Michael Lehning <michael.lehning@lehning.de>
*
*/
 
#ifndef __SICK_SCAN_API_CONVERTER_H_INCLUDED
#define __SICK_SCAN_API_CONVERTER_H_INCLUDED
 
#if __ROS_VERSION == 1
#include <ros/ros.h>
#include <sensor_msgs/LaserScan.h>
#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/Imu.h>
#include <visualization_msgs/MarkerArray.h>
#include <sick_scan_xd/LFErecMsg.h>             // LFErecMsg generated by ros msg-generator
#include <sick_scan_xd/LIDoutputstateMsg.h>     // LIDoutputstateMsg generated by ros msg-generator
#include <sick_scan_xd/RadarScan.h>             // RadarScan generated by ros msg-generator
#include <sick_scan_xd/SickLdmrsObjectArray.h>  // SickLdmrsObjectArray generated by ros msg-generator
#endif
 
#include "sick_scan_api.h"
 
class SickScanApiConverter
{
public:
#if __ROS_VERSION == 1
    /* Convert a cartesian SickScanPointCloudMsg to sensor_msgs::PointCloud2 (ROS-1 only) */
    static sensor_msgs::PointCloud2 convertPointCloudMsg(const SickScanPointCloudMsg& src_msg);
 
    /* Convert a polar SickScanPointCloudMsg to sensor_msgs::PointCloud2 (ROS-1 only) */
    static sensor_msgs::PointCloud2 convertPolarPointCloudMsg(const SickScanPointCloudMsg& src_msg);
 
    /* Convert a SickScanImuMsg to sensor_msgs::Imu (ROS-1 only) */
    static sensor_msgs::Imu convertImuMsg(const SickScanImuMsg& src_msg);
 
    /* Convert a SickScanLFErecMsg to sick_scan_xd::LFErecMsg (ROS-1 only) */
    static sick_scan_xd::LFErecMsg convertLFErecMsg(const SickScanLFErecMsg& src_msg);
 
    /* Convert a SickScanLIDoutputstateMsg to sick_scan_xd::LIDoutputstateMsg (ROS-1 only) */
    static sick_scan_xd::LIDoutputstateMsg convertLIDoutputstateMsg(const SickScanLIDoutputstateMsg& src_msg);
 
    /* Convert a SickScanLIDoutputstateMsg to sick_scan_xd::RadarScan (ROS-1 only) */
    static sick_scan_xd::RadarScan convertRadarScanMsg(const SickScanRadarScan& src_msg);
 
    /* Convert RadarScan objects to sensor_msgs::PointCloud2 (ROS-1 only) */
    static sensor_msgs::PointCloud2 convertRadarObjectsToPointCloud(const SickScanHeader& header, const sick_scan_xd::RadarObject* radar_objects, int num_objects);
 
    /* Convert a SickScanLdmrsObjectArray to sensor_msgs::SickLdmrsObjectArray (ROS-1 only) */
    static sick_scan_xd::SickLdmrsObjectArray convertLdmrsObjectArray(const SickScanLdmrsObjectArray& src_msg);
 
    /* Convert a SickScanVisualizationMarkerMsg to visualization_msgs::MarkerArray (ROS-1 only) */
    static visualization_msgs::MarkerArray convertVisualizationMarkerMsg(const SickScanVisualizationMarkerMsg& src_msg);
 
#endif
 
}; // SickScanApiConverter
 
#endif // __SICK_SCAN_API_CONVERTER_H_INCLUDED