Program Listing for File convert.hpp

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// Copyright 2013, Open Source Robotics Foundation, Inc. All rights reserved.
//
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#ifndef TF2__IMPL__CONVERT_HPP_
#define TF2__IMPL__CONVERT_HPP_

namespace tf2
{
namespace impl
{

template<bool IS_MESSAGE_A, bool IS_MESSAGE_B>
class Converter
{
public:
  template<typename A, typename B>
  static void convert(const A & a, B & b);
};

// The case where both A and B are messages should not happen: if you have two
// messages that are interchangeable, well, that's against the ROS purpose:
// only use one type. Worst comes to worst, specialize the original convert
// function for your types.
// if B == A, the templated version of convert with only one argument will be
// used.
//
template< >
template<typename A, typename B>
inline void Converter<true, true>::convert(const A & a, B & b);

template< >
template<typename A, typename B>
inline void Converter<true, false>::convert(const A & a, B & b)
{
  fromMsg(a, b);
}

template< >
template<typename A, typename B>
inline void Converter<false, true>::convert(const A & a, B & b)
{
  b = toMsg(a);
}

template< >
template<typename A, typename B>
inline void Converter<false, false>::convert(const A & a, B & b)
{
  fromMsg(toMsg(a), b);
}

}  // namespace impl
}  // namespace tf2

#endif  // TF2__IMPL__CONVERT_HPP_