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/Color.hh"
39 #include "gazebo/common/Time.hh"
40 #include "gazebo/common/Image.hh"
41 
42 namespace gazebo
43 {
46  namespace msgs
47  {
51 
57  msgs::Request *CreateRequest(const std::string &_request,
58  const std::string &_data = "");
59 
64  void Init(google::protobuf::Message &_message, const std::string &_id ="");
65 
69  void Stamp(msgs::Header *_header);
70 
74  void Stamp(msgs::Time *_time);
75 
78  std::string Package(const std::string &type,
79  const google::protobuf::Message &message);
81 
86  msgs::Any ConvertAny(const double _v);
87 
92  msgs::Any ConvertAny(const int _i);
93 
98  msgs::Any ConvertAny(const std::string &_s);
99 
104  msgs::Any ConvertAny(const char *_s);
105 
110  msgs::Any ConvertAny(const bool _b);
111 
116  msgs::Any ConvertAny(const ignition::math::Vector3d &_v);
117 
122  msgs::Any ConvertAny(const common::Color &_c);
123 
128  msgs::Any ConvertAny(const ignition::math::Pose3d &_p);
129 
134  msgs::Any ConvertAny(const ignition::math::Quaterniond &_q);
135 
140  msgs::Any ConvertAny(const common::Time &_t);
141 
146  msgs::Vector3d Convert(const ignition::math::Vector3d &_v);
147 
152  msgs::Vector2d Convert(const ignition::math::Vector2d &_v);
153 
158  msgs::Quaternion Convert(const ignition::math::Quaterniond &_q);
159 
164  msgs::Pose Convert(const ignition::math::Pose3d &_p);
165 
170  msgs::Color Convert(const common::Color &_c);
171 
176  msgs::Time Convert(const common::Time &_t);
177 
182  msgs::Inertial Convert(const ignition::math::Inertiald &_i);
183 
188  msgs::Inertial Convert(const ignition::math::MassMatrix3d &_m);
189 
194  msgs::PlaneGeom Convert(const ignition::math::Planed &_p);
195 
201  msgs::Joint::Type ConvertJointType(const std::string &_str);
202 
208  std::string ConvertJointType(const msgs::Joint::Type &_type);
209 
214  msgs::Geometry::Type ConvertGeometryType(const std::string &_str);
215 
220  std::string ConvertGeometryType(const msgs::Geometry::Type _type);
221 
226  ignition::math::Vector3d ConvertIgn(const msgs::Vector3d &_v);
227 
232  ignition::math::Vector2d ConvertIgn(const msgs::Vector2d &_v);
233 
238  ignition::math::Quaterniond ConvertIgn(const msgs::Quaternion &_q);
239 
244  ignition::math::Pose3d ConvertIgn(const msgs::Pose &_p);
245 
250  ignition::math::Inertiald Convert(const msgs::Inertial &_i);
251 
256  void Set(common::Image &_img, const msgs::Image &_msg);
257 
262  common::Color Convert(const msgs::Color &_c);
263 
268  common::Time Convert(const msgs::Time &_t);
269 
274  ignition::math::Planed ConvertIgn(const msgs::PlaneGeom &_p);
275 
280  void Set(msgs::Image *_msg, const common::Image &_i);
281 
286  void Set(msgs::Vector3d *_pt, const ignition::math::Vector3d &_v);
287 
292  void Set(msgs::Vector2d *_pt, const ignition::math::Vector2d &_v);
293 
298  void Set(msgs::Quaternion *_q, const ignition::math::Quaterniond &_v);
299 
304  void Set(msgs::Pose *_p, const ignition::math::Pose3d &_v);
305 
310  void Set(msgs::Color *_c, const common::Color &_v);
311 
316  void Set(msgs::Time *_t, const common::Time &_v);
317 
323  void Set(msgs::SphericalCoordinates *_s,
324  const common::SphericalCoordinates &_v);
325 
330  void Set(msgs::Inertial *_i, const ignition::math::Inertiald &_m);
331 
336  void Set(msgs::Inertial *_i, const ignition::math::MassMatrix3d &_m);
337 
342  void Set(msgs::PlaneGeom *_p, const ignition::math::Planed &_v);
343 
348  msgs::TrackVisual TrackVisualFromSDF(sdf::ElementPtr _sdf);
349 
354  msgs::GUI GUIFromSDF(sdf::ElementPtr _sdf);
355 
360  msgs::Light LightFromSDF(sdf::ElementPtr _sdf);
361 
366  msgs::MeshGeom MeshFromSDF(sdf::ElementPtr _sdf);
367 
372  msgs::Geometry GeometryFromSDF(sdf::ElementPtr _sdf);
373 
378  msgs::Visual VisualFromSDF(sdf::ElementPtr _sdf);
379 
384  msgs::Collision CollisionFromSDF(sdf::ElementPtr _sdf);
385 
390  msgs::Surface SurfaceFromSDF(sdf::ElementPtr _sdf);
391 
396  msgs::Friction FrictionFromSDF(sdf::ElementPtr _sdf);
397 
402  msgs::Axis AxisFromSDF(sdf::ElementPtr _sdf);
403 
408  msgs::Joint JointFromSDF(sdf::ElementPtr _sdf);
409 
414  msgs::Plugin PluginFromSDF(const sdf::ElementPtr _sdf);
415 
422  sdf::ElementPtr VisualToSDF(const msgs::Visual &_msg,
423  sdf::ElementPtr _sdf = sdf::ElementPtr());
424 
433  sdf::ElementPtr MaterialToSDF(const msgs::Material &_msg,
434  sdf::ElementPtr _sdf = sdf::ElementPtr());
435 
441  msgs::Material::ShaderType ConvertShaderType(const std::string &_str);
442 
448  std::string ConvertShaderType(const msgs::Material::ShaderType &_type);
449 
454  msgs::Fog FogFromSDF(sdf::ElementPtr _sdf);
455 
460  msgs::Scene SceneFromSDF(sdf::ElementPtr _sdf);
461 
472  msgs::Sensor SensorFromSDF(sdf::ElementPtr _sdf);
473 
479  msgs::CameraSensor CameraSensorFromSDF(sdf::ElementPtr _sdf);
480 
486  msgs::RaySensor RaySensorFromSDF(sdf::ElementPtr _sdf);
487 
493  msgs::ContactSensor ContactSensorFromSDF(sdf::ElementPtr _sdf);
494 
501  sdf::ElementPtr LightToSDF(const msgs::Light &_msg,
502  sdf::ElementPtr _sdf = sdf::ElementPtr());
503 
510  sdf::ElementPtr CameraSensorToSDF(const msgs::CameraSensor &_msg,
511  sdf::ElementPtr _sdf = sdf::ElementPtr());
512 
519  sdf::ElementPtr PluginToSDF(const msgs::Plugin &_plugin,
520  sdf::ElementPtr _sdf = sdf::ElementPtr());
521 
528  sdf::ElementPtr CollisionToSDF(const msgs::Collision &_msg,
529  sdf::ElementPtr _sdf = sdf::ElementPtr());
530 
539  sdf::ElementPtr LinkToSDF(const msgs::Link &_msg,
540  sdf::ElementPtr _sdf = sdf::ElementPtr());
541 
548  sdf::ElementPtr InertialToSDF(const msgs::Inertial &_msg,
549  sdf::ElementPtr _sdf = sdf::ElementPtr());
550 
557  sdf::ElementPtr SurfaceToSDF(const msgs::Surface &_msg,
558  sdf::ElementPtr _sdf = sdf::ElementPtr());
559 
569  sdf::ElementPtr GeometryToSDF(const msgs::Geometry &_msg,
570  sdf::ElementPtr _sdf = sdf::ElementPtr());
571 
578  sdf::ElementPtr MeshToSDF(const msgs::MeshGeom &_msg,
579  sdf::ElementPtr _sdf = sdf::ElementPtr());
580 
589  void AddBoxLink(msgs::Model &_model, const double _mass,
590  const ignition::math::Vector3d &_size);
591 
602  void AddCylinderLink(msgs::Model &_model, const double _mass,
603  const double _radius, const double _length);
604 
613  void AddSphereLink(msgs::Model &_model, const double _mass,
614  const double _radius);
615 
622  void AddLinkGeom(Model &_msg, const Geometry &_geom);
623 
632  sdf::ElementPtr ModelToSDF(const msgs::Model &_msg,
633  sdf::ElementPtr _sdf = sdf::ElementPtr());
634 
641  sdf::ElementPtr JointToSDF(const msgs::Joint &_msg,
642  sdf::ElementPtr _sdf = sdf::ElementPtr());
643 
646  const google::protobuf::FieldDescriptor *GetFD(
647  google::protobuf::Message &message, const std::string &name);
649 
654  msgs::Header *GetHeader(google::protobuf::Message &_message);
655 
661  msgs::GPSSensor GPSSensorFromSDF(sdf::ElementPtr _sdf);
662 
668  msgs::SensorNoise SensorNoiseFromSDF(sdf::ElementPtr _elem);
669 
675  msgs::IMUSensor IMUSensorFromSDF(sdf::ElementPtr _sdf);
676 
683  msgs::LogicalCameraSensor LogicalCameraSensorFromSDF(sdf::ElementPtr _sdf);
684 
691  sdf::ElementPtr LogicalCameraSensorToSDF(
692  const msgs::LogicalCameraSensor &_msg,
693  sdf::ElementPtr _sdf = sdf::ElementPtr());
694 
701  sdf::ElementPtr IMUSensorToSDF(const msgs::IMUSensor &_msg,
702  sdf::ElementPtr _sdf = sdf::ElementPtr());
703 
710  sdf::ElementPtr SensorNoiseToSDF(const msgs::SensorNoise &_msg,
711  sdf::ElementPtr _sdf = sdf::ElementPtr());
712 
719  sdf::ElementPtr GPSSensorToSDF(const msgs::GPSSensor &_msg,
720  sdf::ElementPtr _sdf = sdf::ElementPtr());
721 
726  ignition::msgs::Color ConvertIgnMsg(const msgs::Color &_msg);
727 
732  msgs::Color ConvertIgnMsg(const ignition::msgs::Color &_msg);
733 
739  ignition::msgs::Material::ShaderType ConvertIgnMsg(
740  const msgs::Material::ShaderType &_type);
741 
747  msgs::Material::ShaderType ConvertIgnMsg(
748  const ignition::msgs::Material::ShaderType &_type);
749 
755  ignition::msgs::Material::Script ConvertIgnMsg(
756  const msgs::Material::Script &_script);
757 
763  msgs::Material::Script ConvertIgnMsg(
764  const ignition::msgs::Material::Script &_script);
765 
770  ignition::msgs::Material ConvertIgnMsg(const msgs::Material &_msg);
771 
776  msgs::Material ConvertIgnMsg(const ignition::msgs::Material &_msg);
778  }
779 }
780 
781 #endif
GAZEBO_VISIBLE msgs::Plugin PluginFromSDF(const sdf::ElementPtr _sdf)
Create a msgs::Plugin from a plugin SDF element.
GAZEBO_VISIBLE msgs::Geometry::Type ConvertGeometryType(const std::string &_str)
Convert a string to a msgs::Geometry::Type enum.
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::Collision CollisionFromSDF(sdf::ElementPtr _sdf)
Create a msgs::Collision from a collision SDF element.
GAZEBO_VISIBLE msgs::Header * GetHeader(google::protobuf::Message &_message)
Get the header from a protobuf message.
Forward declarations for the common classes.
Definition: Animation.hh:33
GAZEBO_VISIBLE msgs::GPSSensor GPSSensorFromSDF(sdf::ElementPtr _sdf)
Create a msgs::GPSSensor from a gps sensor SDF element.
GAZEBO_VISIBLE ignition::math::Vector3d ConvertIgn(const msgs::Vector3d &_v)
Convert a msgs::Vector3d to an ignition::math::Vector.
GAZEBO_VISIBLE msgs::GUI GUIFromSDF(sdf::ElementPtr _sdf)
Create a msgs::GUI from a GUI SDF element.
GAZEBO_VISIBLE msgs::Joint::Type ConvertJointType(const std::string &_str)
Convert a string to a msgs::Joint::Type enum.
GAZEBO_VISIBLE msgs::Sensor SensorFromSDF(sdf::ElementPtr _sdf)
Create a msgs::Sensor from a sensor SDF element.
GAZEBO_VISIBLE msgs::Visual VisualFromSDF(sdf::ElementPtr _sdf)
Create a msgs::Visual from a visual SDF element.
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::Light LightFromSDF(sdf::ElementPtr _sdf)
Create a msgs::Light from a light SDF element.
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 msgs::Scene SceneFromSDF(sdf::ElementPtr _sdf)
Create a msgs::Scene from a scene SDF element.
GAZEBO_VISIBLE msgs::ContactSensor ContactSensorFromSDF(sdf::ElementPtr _sdf)
Create a msgs::ContactSensor from a contact sensor SDF element.
GAZEBO_VISIBLE msgs::LogicalCameraSensor LogicalCameraSensorFromSDF(sdf::ElementPtr _sdf)
Create a msgs::LogicalCameraSensor from a logical camera sensor.
GAZEBO_VISIBLE msgs::Friction FrictionFromSDF(sdf::ElementPtr _sdf)
Create a msgs::Friction from a friction SDF element.
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 JointToSDF(const msgs::Joint &_msg, sdf::ElementPtr _sdf=sdf::ElementPtr())
Create or update an SDF element from msgs::Joint.
GAZEBO_VISIBLE void AddSphereLink(msgs::Model &_model, const double _mass, const double _radius)
Add a simple sphere link to a Model message.
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 ModelToSDF(const msgs::Model &_msg, sdf::ElementPtr _sdf=sdf::ElementPtr())
Create or update an SDF element from msgs::Model.
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 sdf::ElementPtr LightToSDF(const msgs::Light &_msg, sdf::ElementPtr _sdf=sdf::ElementPtr())
Create or update an SDF element from a msgs::Light.
GAZEBO_VISIBLE msgs::SensorNoise SensorNoiseFromSDF(sdf::ElementPtr _elem)
Create a msgs::SensorNoise from a sensor noise SDF element.
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 sdf::ElementPtr InertialToSDF(const msgs::Inertial &_msg, sdf::ElementPtr _sdf=sdf::ElementPtr())
Create or update an SDF element from a msgs::Inertial.
GAZEBO_VISIBLE msgs::Vector3d Convert(const ignition::math::Vector3d &_v)
Convert a ignition::math::Vector3 to a msgs::Vector3d.
GAZEBO_VISIBLE msgs::MeshGeom MeshFromSDF(sdf::ElementPtr _sdf)
Create a msgs::MeshGeom from a mesh SDF element.
GAZEBO_VISIBLE msgs::Geometry GeometryFromSDF(sdf::ElementPtr _sdf)
Create a msgs::Geometry from a geometry 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::Material::ShaderType ConvertShaderType(const std::string &_str)
Convert a string to a msgs::Material::ShaderType enum.
GAZEBO_VISIBLE void Set(common::Image &_img, const msgs::Image &_msg)
Convert a msgs::Image to a common::Image.
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 msgs::Fog FogFromSDF(sdf::ElementPtr _sdf)
Create a msgs::Fog from a fog SDF element.
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&#39;s t...
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 void Stamp(msgs::Header *_header)
Time stamp a header.
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
GAZEBO_VISIBLE msgs::Surface SurfaceFromSDF(sdf::ElementPtr _sdf)
Create a msgs::Surface from a surface SDF element.
GAZEBO_VISIBLE ignition::msgs::Color ConvertIgnMsg(const msgs::Color &_msg)
Convert gazebo::msgs::Color to ignition::msgs::Color.
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 msgs::Axis AxisFromSDF(sdf::ElementPtr _sdf)
Create a msgs::Axis from an axis 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::Any ConvertAny(const double _v)
Convert a double to a msgs::Any.
GAZEBO_VISIBLE msgs::TrackVisual TrackVisualFromSDF(sdf::ElementPtr _sdf)
Create a msgs::TrackVisual from a track visual SDF element.
GAZEBO_VISIBLE msgs::RaySensor RaySensorFromSDF(sdf::ElementPtr _sdf)
Create a msgs::RaySensor from a ray sensor SDF element.
GAZEBO_VISIBLE msgs::IMUSensor IMUSensorFromSDF(sdf::ElementPtr _sdf)
Create a msgs::IMUSensor from an imu sensor SDF element.
GAZEBO_VISIBLE sdf::ElementPtr CollisionToSDF(const msgs::Collision &_msg, sdf::ElementPtr _sdf=sdf::ElementPtr())
Create or update an SDF element from a msgs::Collision.
bool const T & _b
Definition: Helpers.hh:258
GAZEBO_VISIBLE msgs::Joint JointFromSDF(sdf::ElementPtr _sdf)
Create a msgs::Joint from a joint SDF element.
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:58
GAZEBO_VISIBLE msgs::Request * CreateRequest(const std::string &_request, const std::string &_data="")
Create a request message.
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 msgs::CameraSensor CameraSensorFromSDF(sdf::ElementPtr _sdf)
Create a msgs::CameraSensor from a camera sensor 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.