Gazebo Msgs

API Reference

10.3.1
JointType.hh
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2  * Copyright (C) 2023 Open Source Robotics Foundation
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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
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8  * http://www.apache.org/licenses/LICENSE-2.0
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10  * Unless required by applicable law or agreed to in writing, software
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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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16  */
17 #ifndef GZ_MSGS_CONVERT_JOINTTYPE_HH_
18 #define GZ_MSGS_CONVERT_JOINTTYPE_HH_
19 
20 // Message Headers
21 #include "gz/msgs/joint.pb.h"
22 
23 // Data Headers
24 #include <string>
25 
26 namespace gz::msgs {
27 // Inline bracket to help doxygen filtering.
28 inline namespace GZ_MSGS_VERSION_NAMESPACE {
29 
31 inline msgs::Joint::Type ConvertJointType(const std::string &_str)
32 {
33  msgs::Joint::Type result = msgs::Joint::REVOLUTE;
34  if (_str == "revolute")
35  {
36  result = msgs::Joint::REVOLUTE;
37  }
38  else if (_str == "revolute2")
39  {
40  result = msgs::Joint::REVOLUTE2;
41  }
42  else if (_str == "prismatic")
43  {
44  result = msgs::Joint::PRISMATIC;
45  }
46  else if (_str == "universal")
47  {
48  result = msgs::Joint::UNIVERSAL;
49  }
50  else if (_str == "ball")
51  {
52  result = msgs::Joint::BALL;
53  }
54  else if (_str == "screw")
55  {
56  result = msgs::Joint::SCREW;
57  }
58  else if (_str == "gearbox")
59  {
60  result = msgs::Joint::GEARBOX;
61  }
62  else if (_str == "fixed")
63  {
64  result = msgs::Joint::FIXED;
65  }
66  else if (_str == "continuous")
67  {
68  result = msgs::Joint::CONTINUOUS;
69  }
70  else
71  {
72  std::cerr << "Unrecognized JointType ["
73  << _str
74  << "], returning msgs::Joint::REVOLUTE"
75  << std::endl;
76  }
77  return result;
78 }
79 
81 inline std::string ConvertJointType(const msgs::Joint::Type &_type)
82 {
83  std::string result;
84  switch (_type)
85  {
86  case msgs::Joint::REVOLUTE:
87  {
88  result = "revolute";
89  break;
90  }
91  case msgs::Joint::REVOLUTE2:
92  {
93  result = "revolute2";
94  break;
95  }
96  case msgs::Joint::PRISMATIC:
97  {
98  result = "prismatic";
99  break;
100  }
101  case msgs::Joint::UNIVERSAL:
102  {
103  result = "universal";
104  break;
105  }
106  case msgs::Joint::BALL:
107  {
108  result = "ball";
109  break;
110  }
111  case msgs::Joint::SCREW:
112  {
113  result = "screw";
114  break;
115  }
116  case msgs::Joint::GEARBOX:
117  {
118  result = "gearbox";
119  break;
120  }
121  case msgs::Joint::FIXED:
122  {
123  result = "fixed";
124  break;
125  }
126  case msgs::Joint::CONTINUOUS:
127  {
128  result = "continuous";
129  break;
130  }
131  default:
132  {
133  result = "unknown";
134  std::cerr << "Unrecognized JointType ["
135  << _type
136  << "], returning 'unknown'"
137  << std::endl;
138  break;
139  }
140  }
141  return result;
142 }
143 
144 } // namespce
145 } // namespace gz::msgs
146 
147 #endif // GZ_MSGS_CONVERT_JOINTTYPE_HH_