msgs.hh
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1/*
2 * Copyright (C) 2012 Open Source Robotics Foundation
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *
16*/
17#ifndef GAZEBO_MSGS_MSGS_HH_
18#define GAZEBO_MSGS_MSGS_HH_
19
20#include <string>
21
22#include <sdf/sdf.hh>
23
24#include <ignition/math/Inertial.hh>
25#include <ignition/math/MassMatrix3.hh>
26#include <ignition/math/Plane.hh>
27#include <ignition/math/Pose3.hh>
28#include <ignition/math/Quaternion.hh>
29#include <ignition/math/Vector2.hh>
30#include <ignition/math/Vector3.hh>
31
32#include <ignition/msgs/color.pb.h>
33#include <ignition/msgs/material.pb.h>
34
35#include "gazebo/msgs/MessageTypes.hh"
36
38#include "gazebo/common/Time.hh"
40
41namespace gazebo
42{
45 namespace msgs
46 {
50
56 msgs::Request *CreateRequest(const std::string &_request,
57 const std::string &_data = "");
58
63 void Init(google::protobuf::Message &_message, const std::string &_id ="");
64
68 void Stamp(msgs::Header *_header);
69
73 void Stamp(msgs::Time *_time);
74
77 std::string Package(const std::string &type,
78 const google::protobuf::Message &message);
80
85 msgs::Any ConvertAny(const double _v);
86
91 msgs::Any ConvertAny(const int _i);
92
97 msgs::Any ConvertAny(const std::string &_s);
98
103 msgs::Any ConvertAny(const char *_s);
104
109 msgs::Any ConvertAny(const bool _b);
110
115 msgs::Any ConvertAny(const ignition::math::Vector3d &_v);
116
121 msgs::Any ConvertAny(const ignition::math::Color &_c);
122
127 msgs::Any ConvertAny(const ignition::math::Pose3d &_p);
128
133 msgs::Any ConvertAny(const ignition::math::Quaterniond &_q);
134
139 msgs::Any ConvertAny(const common::Time &_t);
140
145 msgs::Vector3d Convert(const ignition::math::Vector3d &_v);
146
151 msgs::Vector2d Convert(const ignition::math::Vector2d &_v);
152
157 msgs::Quaternion Convert(const ignition::math::Quaterniond &_q);
158
163 msgs::Pose Convert(const ignition::math::Pose3d &_p);
164
169 msgs::Color Convert(const ignition::math::Color &_c);
170
175 msgs::Time Convert(const common::Time &_t);
176
181 msgs::Inertial Convert(const ignition::math::Inertiald &_i);
182
187 msgs::Inertial Convert(const ignition::math::MassMatrix3d &_m);
188
193 msgs::PlaneGeom Convert(const ignition::math::Planed &_p);
194
200 msgs::Joint::Type ConvertJointType(const std::string &_str);
201
207 std::string ConvertJointType(const msgs::Joint::Type &_type);
208
213 msgs::Geometry::Type ConvertGeometryType(const std::string &_str);
214
219 std::string ConvertGeometryType(const msgs::Geometry::Type _type);
220
225 ignition::math::Vector3d ConvertIgn(const msgs::Vector3d &_v);
226
231 ignition::math::Vector2d ConvertIgn(const msgs::Vector2d &_v);
232
237 ignition::math::Quaterniond ConvertIgn(const msgs::Quaternion &_q);
238
243 ignition::math::Pose3d ConvertIgn(const msgs::Pose &_p);
244
249 ignition::math::Inertiald Convert(const msgs::Inertial &_i);
250
255 void Set(common::Image &_img, const msgs::Image &_msg);
256
261 ignition::math::Color Convert(const msgs::Color &_c);
262
267 common::Time Convert(const msgs::Time &_t);
268
273 ignition::math::Planed ConvertIgn(const msgs::PlaneGeom &_p);
274
279 void Set(msgs::Image *_msg, const common::Image &_i);
280
285 void Set(msgs::Vector3d *_pt, const ignition::math::Vector3d &_v);
286
291 void Set(msgs::Vector2d *_pt, const ignition::math::Vector2d &_v);
292
297 void Set(msgs::Quaternion *_q, const ignition::math::Quaterniond &_v);
298
303 void Set(msgs::Pose *_p, const ignition::math::Pose3d &_v);
304
309 void Set(msgs::Color *_c, const ignition::math::Color &_v);
310
315 void Set(msgs::Time *_t, const common::Time &_v);
316
322 void Set(msgs::SphericalCoordinates *_s,
324
329 void Set(msgs::Inertial *_i, const ignition::math::Inertiald &_m);
330
335 void Set(msgs::Inertial *_i, const ignition::math::MassMatrix3d &_m);
336
341 void Set(msgs::PlaneGeom *_p, const ignition::math::Planed &_v);
342
347 msgs::TrackVisual TrackVisualFromSDF(sdf::ElementPtr _sdf);
348
353 msgs::GUI GUIFromSDF(sdf::ElementPtr _sdf);
354
359 msgs::Light LightFromSDF(sdf::ElementPtr _sdf);
360
365 msgs::MeshGeom MeshFromSDF(sdf::ElementPtr _sdf);
366
371 msgs::Geometry GeometryFromSDF(sdf::ElementPtr _sdf);
372
377 msgs::Visual VisualFromSDF(sdf::ElementPtr _sdf);
378
383 msgs::Collision CollisionFromSDF(sdf::ElementPtr _sdf);
384
389 msgs::Surface SurfaceFromSDF(sdf::ElementPtr _sdf);
390
395 msgs::Friction FrictionFromSDF(sdf::ElementPtr _sdf);
396
401 msgs::Axis AxisFromSDF(sdf::ElementPtr _sdf);
402
407 msgs::Joint JointFromSDF(sdf::ElementPtr _sdf);
408
413 msgs::Plugin PluginFromSDF(const sdf::ElementPtr _sdf);
414
421 sdf::ElementPtr VisualToSDF(const msgs::Visual &_msg,
422 sdf::ElementPtr _sdf = sdf::ElementPtr());
423
432 sdf::ElementPtr MaterialToSDF(const msgs::Material &_msg,
433 sdf::ElementPtr _sdf = sdf::ElementPtr());
434
440 msgs::Material::ShaderType ConvertShaderType(const std::string &_str);
441
447 std::string ConvertShaderType(const msgs::Material::ShaderType &_type);
448
453 msgs::Fog FogFromSDF(sdf::ElementPtr _sdf);
454
459 msgs::Scene SceneFromSDF(sdf::ElementPtr _sdf);
460
471 msgs::Sensor SensorFromSDF(sdf::ElementPtr _sdf);
472
478 msgs::CameraSensor CameraSensorFromSDF(sdf::ElementPtr _sdf);
479
485 msgs::RaySensor RaySensorFromSDF(sdf::ElementPtr _sdf);
486
492 msgs::ContactSensor ContactSensorFromSDF(sdf::ElementPtr _sdf);
493
500 sdf::ElementPtr LightToSDF(const msgs::Light &_msg,
501 sdf::ElementPtr _sdf = sdf::ElementPtr());
502
509 sdf::ElementPtr CameraSensorToSDF(const msgs::CameraSensor &_msg,
510 sdf::ElementPtr _sdf = sdf::ElementPtr());
511
518 sdf::ElementPtr PluginToSDF(const msgs::Plugin &_plugin,
519 sdf::ElementPtr _sdf = sdf::ElementPtr());
520
527 sdf::ElementPtr CollisionToSDF(const msgs::Collision &_msg,
528 sdf::ElementPtr _sdf = sdf::ElementPtr());
529
538 sdf::ElementPtr LinkToSDF(const msgs::Link &_msg,
539 sdf::ElementPtr _sdf = sdf::ElementPtr());
540
547 sdf::ElementPtr InertialToSDF(const msgs::Inertial &_msg,
548 sdf::ElementPtr _sdf = sdf::ElementPtr());
549
556 sdf::ElementPtr SurfaceToSDF(const msgs::Surface &_msg,
557 sdf::ElementPtr _sdf = sdf::ElementPtr());
558
568 sdf::ElementPtr GeometryToSDF(const msgs::Geometry &_msg,
569 sdf::ElementPtr _sdf = sdf::ElementPtr());
570
577 sdf::ElementPtr MeshToSDF(const msgs::MeshGeom &_msg,
578 sdf::ElementPtr _sdf = sdf::ElementPtr());
579
588 void AddBoxLink(msgs::Model &_model, const double _mass,
589 const ignition::math::Vector3d &_size);
590
601 void AddCylinderLink(msgs::Model &_model, const double _mass,
602 const double _radius, const double _length);
603
612 void AddSphereLink(msgs::Model &_model, const double _mass,
613 const double _radius);
614
621 void AddLinkGeom(Model &_msg, const Geometry &_geom);
622
631 sdf::ElementPtr ModelToSDF(const msgs::Model &_msg,
632 sdf::ElementPtr _sdf = sdf::ElementPtr());
633
640 sdf::ElementPtr JointToSDF(const msgs::Joint &_msg,
641 sdf::ElementPtr _sdf = sdf::ElementPtr());
642
645 const google::protobuf::FieldDescriptor *GetFD(
646 google::protobuf::Message &message, const std::string &name);
648
653 msgs::Header *GetHeader(google::protobuf::Message &_message);
654
660 msgs::GPSSensor GPSSensorFromSDF(sdf::ElementPtr _sdf);
661
667 msgs::SensorNoise SensorNoiseFromSDF(sdf::ElementPtr _elem);
668
674 msgs::IMUSensor IMUSensorFromSDF(sdf::ElementPtr _sdf);
675
682 msgs::LogicalCameraSensor LogicalCameraSensorFromSDF(sdf::ElementPtr _sdf);
683
691 const msgs::LogicalCameraSensor &_msg,
692 sdf::ElementPtr _sdf = sdf::ElementPtr());
693
700 sdf::ElementPtr IMUSensorToSDF(const msgs::IMUSensor &_msg,
701 sdf::ElementPtr _sdf = sdf::ElementPtr());
702
709 sdf::ElementPtr SensorNoiseToSDF(const msgs::SensorNoise &_msg,
710 sdf::ElementPtr _sdf = sdf::ElementPtr());
711
718 sdf::ElementPtr GPSSensorToSDF(const msgs::GPSSensor &_msg,
719 sdf::ElementPtr _sdf = sdf::ElementPtr());
720
725 ignition::msgs::Color ConvertIgnMsg(const msgs::Color &_msg);
726
731 msgs::Color ConvertIgnMsg(const ignition::msgs::Color &_msg);
732
738 ignition::msgs::Material::ShaderType ConvertIgnMsg(
739 const msgs::Material::ShaderType &_type);
740
746 msgs::Material::ShaderType ConvertIgnMsg(
747 const ignition::msgs::Material::ShaderType &_type);
748
754 ignition::msgs::Material::Script ConvertIgnMsg(
755 const msgs::Material::Script &_script);
756
762 msgs::Material::Script ConvertIgnMsg(
763 const ignition::msgs::Material::Script &_script);
764
769 ignition::msgs::Material ConvertIgnMsg(const msgs::Material &_msg);
770
775 msgs::Material ConvertIgnMsg(const ignition::msgs::Material &_msg);
777 }
778}
779
780#endif
Encapsulates an image.
Definition Image.hh:66
Convert spherical coordinates for planetary surfaces.
Definition SphericalCoordinates.hh:40
A Time class, can be used to hold wall- or sim-time.
Definition Time.hh:48
GAZEBO_VISIBLE void Stamp(msgs::Header *_header)
Time stamp a header.
GAZEBO_VISIBLE msgs::TrackVisual TrackVisualFromSDF(sdf::ElementPtr _sdf)
Create a msgs::TrackVisual from a track visual SDF element.
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
GAZEBO_VISIBLE sdf::ElementPtr LightToSDF(const msgs::Light &_msg, sdf::ElementPtr _sdf=sdf::ElementPtr())
Create or update an SDF element from a msgs::Light.
GAZEBO_VISIBLE sdf::ElementPtr IMUSensorToSDF(const msgs::IMUSensor &_msg, sdf::ElementPtr _sdf=sdf::ElementPtr())
Create or update an SDF element from a msgs::IMUSensor.
GAZEBO_VISIBLE void Set(common::Image &_img, const msgs::Image &_msg)
Convert a msgs::Image to a common::Image.
GAZEBO_VISIBLE msgs::MeshGeom MeshFromSDF(sdf::ElementPtr _sdf)
Create a msgs::MeshGeom from a mesh SDF element.
GAZEBO_VISIBLE msgs::Request * CreateRequest(const std::string &_request, const std::string &_data="")
Create a request message.
GAZEBO_VISIBLE void AddBoxLink(msgs::Model &_model, const double _mass, const ignition::math::Vector3d &_size)
Add a simple box link to a Model message.
GAZEBO_VISIBLE msgs::Vector3d Convert(const ignition::math::Vector3d &_v)
Convert a ignition::math::Vector3 to a msgs::Vector3d.
GAZEBO_VISIBLE msgs::RaySensor RaySensorFromSDF(sdf::ElementPtr _sdf)
Create a msgs::RaySensor from a ray sensor SDF element.
GAZEBO_VISIBLE msgs::Geometry::Type ConvertGeometryType(const std::string &_str)
Convert a string to a msgs::Geometry::Type enum.
GAZEBO_VISIBLE msgs::Friction FrictionFromSDF(sdf::ElementPtr _sdf)
Create a msgs::Friction from a friction SDF element.
GAZEBO_VISIBLE msgs::GPSSensor GPSSensorFromSDF(sdf::ElementPtr _sdf)
Create a msgs::GPSSensor from a gps sensor SDF element.
GAZEBO_VISIBLE msgs::Collision CollisionFromSDF(sdf::ElementPtr _sdf)
Create a msgs::Collision from a collision SDF element.
GAZEBO_VISIBLE sdf::ElementPtr SurfaceToSDF(const msgs::Surface &_msg, sdf::ElementPtr _sdf=sdf::ElementPtr())
Create or update an SDF element from a msgs::Surface.
GAZEBO_VISIBLE msgs::Visual VisualFromSDF(sdf::ElementPtr _sdf)
Create a msgs::Visual from a visual SDF element.
GAZEBO_VISIBLE sdf::ElementPtr SensorNoiseToSDF(const msgs::SensorNoise &_msg, sdf::ElementPtr _sdf=sdf::ElementPtr())
Create or update an SDF element from a msgs::SensorNoise.
GAZEBO_VISIBLE sdf::ElementPtr MaterialToSDF(const msgs::Material &_msg, sdf::ElementPtr _sdf=sdf::ElementPtr())
Create or update an SDF element from a msgs::Material If _sdf is supplied and _msg has script uri's t...
GAZEBO_VISIBLE sdf::ElementPtr CameraSensorToSDF(const msgs::CameraSensor &_msg, sdf::ElementPtr _sdf=sdf::ElementPtr())
Create or update an SDF element from a msgs::CameraSensor.
GAZEBO_VISIBLE sdf::ElementPtr GPSSensorToSDF(const msgs::GPSSensor &_msg, sdf::ElementPtr _sdf=sdf::ElementPtr())
Create or update an SDF element from a msgs::GPSSensor.
GAZEBO_VISIBLE sdf::ElementPtr LogicalCameraSensorToSDF(const msgs::LogicalCameraSensor &_msg, sdf::ElementPtr _sdf=sdf::ElementPtr())
Create or update an SDF element from a msgs::LogicalCameraSensor.
GAZEBO_VISIBLE msgs::Joint JointFromSDF(sdf::ElementPtr _sdf)
Create a msgs::Joint from a joint SDF element.
GAZEBO_VISIBLE msgs::LogicalCameraSensor LogicalCameraSensorFromSDF(sdf::ElementPtr _sdf)
Create a msgs::LogicalCameraSensor from a logical camera sensor.
GAZEBO_VISIBLE msgs::Sensor SensorFromSDF(sdf::ElementPtr _sdf)
Create a msgs::Sensor from a sensor SDF element.
GAZEBO_VISIBLE sdf::ElementPtr PluginToSDF(const msgs::Plugin &_plugin, sdf::ElementPtr _sdf=sdf::ElementPtr())
Create or update an SDF element from a msgs::Plugin.
GAZEBO_VISIBLE msgs::Geometry GeometryFromSDF(sdf::ElementPtr _sdf)
Create a msgs::Geometry from a geometry SDF element.
GAZEBO_VISIBLE sdf::ElementPtr ModelToSDF(const msgs::Model &_msg, sdf::ElementPtr _sdf=sdf::ElementPtr())
Create or update an SDF element from msgs::Model.
GAZEBO_VISIBLE msgs::Header * GetHeader(google::protobuf::Message &_message)
Get the header from a protobuf message.
GAZEBO_VISIBLE void AddLinkGeom(Model &_msg, const Geometry &_geom)
Add a link with a collision and visual of specified geometry to a model message.
GAZEBO_VISIBLE msgs::CameraSensor CameraSensorFromSDF(sdf::ElementPtr _sdf)
Create a msgs::CameraSensor from a camera sensor SDF element.
GAZEBO_VISIBLE msgs::Axis AxisFromSDF(sdf::ElementPtr _sdf)
Create a msgs::Axis from an axis SDF element.
GAZEBO_VISIBLE msgs::Scene SceneFromSDF(sdf::ElementPtr _sdf)
Create a msgs::Scene from a scene SDF element.
GAZEBO_VISIBLE msgs::Light LightFromSDF(sdf::ElementPtr _sdf)
Create a msgs::Light from a light SDF element.
GAZEBO_VISIBLE void AddSphereLink(msgs::Model &_model, const double _mass, const double _radius)
Add a simple sphere link to a Model message.
GAZEBO_VISIBLE msgs::Plugin PluginFromSDF(const sdf::ElementPtr _sdf)
Create a msgs::Plugin from a plugin SDF element.
GAZEBO_VISIBLE msgs::Any ConvertAny(const double _v)
Convert a double to a msgs::Any.
GAZEBO_VISIBLE sdf::ElementPtr JointToSDF(const msgs::Joint &_msg, sdf::ElementPtr _sdf=sdf::ElementPtr())
Create or update an SDF element from msgs::Joint.
GAZEBO_VISIBLE sdf::ElementPtr InertialToSDF(const msgs::Inertial &_msg, sdf::ElementPtr _sdf=sdf::ElementPtr())
Create or update an SDF element from a msgs::Inertial.
GAZEBO_VISIBLE sdf::ElementPtr VisualToSDF(const msgs::Visual &_msg, sdf::ElementPtr _sdf=sdf::ElementPtr())
Create or update an SDF element from a msgs::Visual.
GAZEBO_VISIBLE sdf::ElementPtr CollisionToSDF(const msgs::Collision &_msg, sdf::ElementPtr _sdf=sdf::ElementPtr())
Create or update an SDF element from a msgs::Collision.
GAZEBO_VISIBLE msgs::SensorNoise SensorNoiseFromSDF(sdf::ElementPtr _elem)
Create a msgs::SensorNoise from a sensor noise SDF element.
GAZEBO_VISIBLE msgs::ContactSensor ContactSensorFromSDF(sdf::ElementPtr _sdf)
Create a msgs::ContactSensor from a contact sensor SDF element.
GAZEBO_VISIBLE msgs::GUI GUIFromSDF(sdf::ElementPtr _sdf)
Create a msgs::GUI from a GUI SDF element.
GAZEBO_VISIBLE ignition::math::Vector3d ConvertIgn(const msgs::Vector3d &_v)
Convert a msgs::Vector3d to an ignition::math::Vector.
GAZEBO_VISIBLE sdf::ElementPtr LinkToSDF(const msgs::Link &_msg, sdf::ElementPtr _sdf=sdf::ElementPtr())
Create or update an SDF element from a msgs::Link.
GAZEBO_VISIBLE msgs::IMUSensor IMUSensorFromSDF(sdf::ElementPtr _sdf)
Create a msgs::IMUSensor from an imu sensor SDF element.
GAZEBO_VISIBLE msgs::Fog FogFromSDF(sdf::ElementPtr _sdf)
Create a msgs::Fog from a fog SDF element.
GAZEBO_VISIBLE void AddCylinderLink(msgs::Model &_model, const double _mass, const double _radius, const double _length)
Add a simple cylinder link to a Model message.
GAZEBO_VISIBLE msgs::Surface SurfaceFromSDF(sdf::ElementPtr _sdf)
Create a msgs::Surface from a surface SDF element.
GAZEBO_VISIBLE sdf::ElementPtr GeometryToSDF(const msgs::Geometry &_msg, sdf::ElementPtr _sdf=sdf::ElementPtr())
Create or update an SDF element from a msgs::Geometry If _sdf is supplied and the _msg has non-empty ...
GAZEBO_VISIBLE msgs::Joint::Type ConvertJointType(const std::string &_str)
Convert a string to a msgs::Joint::Type enum.
GAZEBO_VISIBLE msgs::Material::ShaderType ConvertShaderType(const std::string &_str)
Convert a string to a msgs::Material::ShaderType enum.
GAZEBO_VISIBLE sdf::ElementPtr MeshToSDF(const msgs::MeshGeom &_msg, sdf::ElementPtr _sdf=sdf::ElementPtr())
Create or update an SDF element from a msgs::Mesh.
GAZEBO_VISIBLE ignition::msgs::Color ConvertIgnMsg(const msgs::Color &_msg)
Convert gazebo::msgs::Color to ignition::msgs::Color.
Forward declarations for the common classes.
Definition Animation.hh:27
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition system.hh:59