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core
include
gz
msgs
convert
Pose.hh
Go to the documentation of this file.
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/*
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* Copyright (C) 2023 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef GZ_MSGS_CONVERT_POSE_HH_
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#define GZ_MSGS_CONVERT_POSE_HH_
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#include <
gz/msgs/convert/Vector3.hh
>
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#include <
gz/msgs/convert/Quaternion.hh
>
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// Message Headers
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#include "gz/msgs/quaternion.pb.h"
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#include "gz/msgs/pose.pb.h"
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// Data Headers
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#include <gz/math/Pose3.hh>
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namespace
gz::msgs
{
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// Inline bracket to help doxygen filtering.
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inline
namespace
GZ_MSGS_VERSION_NAMESPACE {
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inline
void
Set
(gz::msgs::Pose *_msg,
const
gz::math::Pose3d
&_data)
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{
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Set
(_msg->mutable_position(), _data.
Pos
());
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Set
(_msg->mutable_orientation(), _data.
Rot
());
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}
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inline
void
Set
(
gz::math::Pose3d
*_data,
const
gz::msgs::Pose &_msg)
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{
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gz::math::Vector3d
pos;
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gz::math::Quaterniond
orientation;
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if
(_msg.has_position())
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pos =
Convert
(_msg.position());
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// This bit is critical. If orientation hasn't been set in the message,
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// then we want the quaternion to default to identity.
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if
(_msg.has_orientation())
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orientation =
Convert
(_msg.orientation());
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_data->
Set
(pos, orientation);
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}
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inline
gz::msgs::Pose
Convert
(
const
gz::math::Pose3d
&_data)
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{
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gz::msgs::Pose ret;
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Set
(&ret, _data);
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return
ret;
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}
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inline
gz::math::Pose3d
Convert
(
const
gz::msgs::Pose &_msg)
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{
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gz::math::Pose3d
ret;
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Set
(&ret, _msg);
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return
ret;
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}
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}
// namespce
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}
// namespace gz::msgs
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#endif
// GZ_MSGS_CONVERT_VECTOR3_HH_