Gazebo Msgs

API Reference

10.3.1
Pose.hh
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 #ifndef GZ_MSGS_CONVERT_POSE_HH_
18 #define GZ_MSGS_CONVERT_POSE_HH_
19 
22 
23 // Message Headers
24 #include "gz/msgs/quaternion.pb.h"
25 #include "gz/msgs/pose.pb.h"
26 
27 // Data Headers
28 #include <gz/math/Pose3.hh>
29 
30 namespace gz::msgs {
31 // Inline bracket to help doxygen filtering.
32 inline namespace GZ_MSGS_VERSION_NAMESPACE {
33 
35 inline void Set(gz::msgs::Pose *_msg, const gz::math::Pose3d &_data)
36 {
37  Set(_msg->mutable_position(), _data.Pos());
38  Set(_msg->mutable_orientation(), _data.Rot());
39 }
40 
41 inline void Set(gz::math::Pose3d *_data, const gz::msgs::Pose &_msg)
42 {
44  gz::math::Quaterniond orientation;
45 
46  if (_msg.has_position())
47  pos = Convert(_msg.position());
48 
49  // This bit is critical. If orientation hasn't been set in the message,
50  // then we want the quaternion to default to identity.
51  if (_msg.has_orientation())
52  orientation = Convert(_msg.orientation());
53 
54  _data->Set(pos, orientation);
55 }
56 
57 inline gz::msgs::Pose Convert(const gz::math::Pose3d &_data)
58 {
59  gz::msgs::Pose ret;
60  Set(&ret, _data);
61  return ret;
62 }
63 
64 inline gz::math::Pose3d Convert(const gz::msgs::Pose &_msg)
65 {
66  gz::math::Pose3d ret;
67  Set(&ret, _msg);
68  return ret;
69 }
70 } // namespce
71 } // namespace gz::msgs
72 
73 #endif // GZ_MSGS_CONVERT_VECTOR3_HH_