Gazebo Msgs

API Reference

10.3.1
Plane.hh
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1 /*
2  * Copyright (C) 2023 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 GZ_MSGS_CONVERT_PLANE_HH_
18 #define GZ_MSGS_CONVERT_PLANE_HH_
19 
22 
23 // Message Headers
24 #include "gz/msgs/planegeom.pb.h"
25 
26 // Data Headers
27 #include <gz/math/Plane.hh>
28 
29 namespace gz::msgs {
30 // Inline bracket to help doxygen filtering.
31 inline namespace GZ_MSGS_VERSION_NAMESPACE {
32 
34 inline void Set(gz::msgs::PlaneGeom *_msg, const gz::math::Planed &_data)
35 {
36  Set(_msg->mutable_normal(), _data.Normal());
37  _msg->mutable_size()->set_x(_data.Size().X());
38  _msg->mutable_size()->set_y(_data.Size().Y());
39  _msg->set_d(_data.Offset());
40 }
41 
42 inline void Set(gz::math::Planed *_data, const gz::msgs::PlaneGeom &_msg)
43 {
44  _data->Set(
45  Convert(_msg.normal()),
46  Convert(_msg.size()),
47  _msg.d()
48  );
49 }
50 
51 inline gz::msgs::PlaneGeom Convert(const gz::math::Planed &_data)
52 {
53  gz::msgs::PlaneGeom ret;
54  Set(&ret, _data);
55  return ret;
56 }
57 
58 inline gz::math::Planed Convert(const gz::msgs::PlaneGeom &_msg)
59 {
60  gz::math::Planed ret;
61  Set(&ret, _msg);
62  return ret;
63 }
64 } // namespce
65 } // namespace gz::msgs
66 
67 #endif // GZ_MSGS_CONVERT_VECTOR3_HH_