rendering/Conversions.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
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15  *
16 */
17 #ifndef GAZEBO_RENDERING_CONVERSIONS_HH_
18 #define GAZEBO_RENDERING_CONVERSIONS_HH_
19 
20 #include <ignition/math/Matrix4.hh>
21 #include <ignition/math/Quaternion.hh>
22 #include <ignition/math/Vector3.hh>
23 
25 
26 #include "gazebo/common/Color.hh"
28 #include "gazebo/util/system.hh"
29 
30 namespace gazebo
31 {
32  namespace rendering
33  {
36 
40  class GZ_RENDERING_VISIBLE Conversions
41  {
45  public: static Ogre::ColourValue Convert(const common::Color &_clr);
46 
50  public: static common::Color Convert(const Ogre::ColourValue &_clr);
51 
55  public: static ignition::math::Vector3d ConvertIgn(
56  const Ogre::Vector3 &_v);
57 
61  public: static Ogre::Vector3 Convert(const ignition::math::Vector3d &_v);
62 
66  public: static ignition::math::Quaterniond ConvertIgn(
67  const Ogre::Quaternion &_q);
68 
72  public: static Ogre::Quaternion Convert(
73  const ignition::math::Quaterniond &_q);
74 
78  public: static ignition::math::Matrix4d ConvertIgn(
79  const Ogre::Matrix4 &_m);
80 
84  public: static Ogre::Matrix4 Convert(const ignition::math::Matrix4d &_m);
85 
89  public: static Ogre::Node::TransformSpace Convert(
90  const ReferenceFrame &_rf);
91 
95  public: static ReferenceFrame Convert(
96  const Ogre::Node::TransformSpace &_ts);
97  };
99  }
100 }
101 #endif
ReferenceFrame
Frame of reference.
Definition: RenderTypes.hh:239
Forward declarations for the common classes.
Definition: Animation.hh:33
GAZEBO_VISIBLE ignition::math::Vector3d ConvertIgn(const msgs::Vector3d &_v)
Convert a msgs::Vector3d to an ignition::math::Vector.
GAZEBO_VISIBLE msgs::Vector3d Convert(const ignition::math::Vector3d &_v)
Convert a ignition::math::Vector3 to a msgs::Vector3d.
Conversions Conversions.hh rendering/Conversions.hh.
Definition: rendering/Conversions.hh:40
Defines a color.
Definition: Color.hh:35