Utility.hh

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/*
 * Copyright (C) 2016 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#ifndef IGNITION_MSGS_UTILITY_HH_
#define IGNITION_MSGS_UTILITY_HH_

#include <string>
#include <utility>
#include <vector>

#include <ignition/math/AxisAlignedBox.hh>
#include <ignition/math/Color.hh>
#include <ignition/math/Inertial.hh>
#include <ignition/math/Pose3.hh>
#include <ignition/math/Plane.hh>
#include <ignition/math/Vector3.hh>

#include "ignition/msgs/config.hh"
#include "ignition/msgs/Export.hh"
#include "ignition/msgs/MessageTypes.hh"


namespace ignition
{
  namespace msgs
  {
    // Inline bracket to help doxygen filtering.
    inline namespace IGNITION_MSGS_VERSION_NAMESPACE {
    //
    IGNITION_MSGS_VISIBLE
    ignition::math::Vector3d Convert(const msgs::Vector3d &_v);

    IGNITION_MSGS_VISIBLE
    ignition::math::Vector2d Convert(const msgs::Vector2d &_v);

    IGNITION_MSGS_VISIBLE
    ignition::math::Quaterniond Convert(const msgs::Quaternion &_q);

    IGNITION_MSGS_VISIBLE
    ignition::math::Pose3d Convert(const msgs::Pose &_p);

    IGNITION_MSGS_VISIBLE
    math::Color Convert(const msgs::Color &_c);

    IGNITION_MSGS_VISIBLE
    ignition::math::Planed Convert(const msgs::PlaneGeom &_p);

    IGNITION_MSGS_VISIBLE
    math::Inertiald Convert(const msgs::Inertial &_i);

    IGNITION_MSGS_VISIBLE
    math::AxisAlignedBox Convert(const msgs::AxisAlignedBox &_b);

    IGNITION_MSGS_VISIBLE
    msgs::AxisAlignedBox Convert(const math::AxisAlignedBox &_b);

    IGNITION_MSGS_VISIBLE
    std::string Convert(const msgs::StringMsg &_m);

    IGNITION_MSGS_VISIBLE
    bool Convert(const msgs::Boolean &_m);

    IGNITION_MSGS_VISIBLE
    int32_t Convert(const msgs::Int32 &_m);

    IGNITION_MSGS_VISIBLE
    uint32_t Convert(const msgs::UInt32 &_m);

    IGNITION_MSGS_VISIBLE
    int64_t Convert(const msgs::Int64 &_m);

    IGNITION_MSGS_VISIBLE
    uint64_t Convert(const msgs::UInt64 &_m);

    IGNITION_MSGS_VISIBLE
    double Convert(const msgs::Double &_m);

    IGNITION_MSGS_VISIBLE
    float Convert(const msgs::Float &_m);

    IGNITION_MSGS_VISIBLE
    msgs::Vector3d Convert(const ignition::math::Vector3d &_v);

    IGNITION_MSGS_VISIBLE
    msgs::Vector2d Convert(const ignition::math::Vector2d &_v);

    IGNITION_MSGS_VISIBLE
    msgs::Quaternion Convert(const ignition::math::Quaterniond &_q);

    IGNITION_MSGS_VISIBLE
    msgs::Pose Convert(const ignition::math::Pose3d &_p);

    IGNITION_MSGS_VISIBLE
    msgs::Color Convert(const math::Color &_c);

    IGNITION_MSGS_VISIBLE
    msgs::Inertial Convert(const math::Inertiald &_i);

    IGNITION_MSGS_VISIBLE
    msgs::Inertial Convert(const math::MassMatrix3d &_m);

    IGNITION_MSGS_VISIBLE
    msgs::PlaneGeom Convert(const ignition::math::Planed &_p);

    IGNITION_MSGS_VISIBLE
    msgs::StringMsg Convert(const std::string &_s);

    IGNITION_MSGS_VISIBLE
    msgs::Boolean Convert(const bool &_b);

    IGNITION_MSGS_VISIBLE
    msgs::Int32 Convert(const int32_t &_i);

    IGNITION_MSGS_VISIBLE
    msgs::UInt32 Convert(const uint32_t &_u);

    IGNITION_MSGS_VISIBLE
    msgs::Int64 Convert(const int64_t &_i);

    IGNITION_MSGS_VISIBLE
    msgs::UInt64 Convert(const uint64_t &_u);

    IGNITION_MSGS_VISIBLE
    msgs::Double Convert(const double &_d);

    IGNITION_MSGS_VISIBLE
    msgs::Float Convert(const float &_f);

    IGNITION_MSGS_VISIBLE
    msgs::Joint::Type ConvertJointType(const std::string &_str);

    IGNITION_MSGS_VISIBLE
    std::string ConvertJointType(const msgs::Joint::Type &_type);

    IGNITION_MSGS_VISIBLE
    msgs::Geometry::Type ConvertGeometryType(const std::string &_str);

    IGNITION_MSGS_VISIBLE
    std::string ConvertGeometryType(const msgs::Geometry::Type _type);

    IGNITION_MSGS_VISIBLE
    msgs::PixelFormatType ConvertPixelFormatType(const std::string &_str);

    // \param[in] _t PixelFormatType enum value.
    IGNITION_MSGS_VISIBLE
    std::string ConvertPixelFormatType(const msgs::PixelFormatType &_t);

    IGNITION_MSGS_VISIBLE
    msgs::Material::ShaderType ConvertShaderType(const std::string &_str);

    IGNITION_MSGS_VISIBLE
    std::string ConvertShaderType(const msgs::Material::ShaderType &_type);

    IGNITION_MSGS_VISIBLE
    void Set(msgs::Vector3d *_pt, const ignition::math::Vector3d &_v);

    IGNITION_MSGS_VISIBLE
    void Set(msgs::Vector2d *_pt, const ignition::math::Vector2d &_v);

    IGNITION_MSGS_VISIBLE
    void Set(msgs::Quaternion *_q, const ignition::math::Quaterniond &_v);

    IGNITION_MSGS_VISIBLE
    void Set(msgs::Pose *_p, const ignition::math::Pose3d &_v);

    IGNITION_MSGS_VISIBLE
    void Set(msgs::Color *_c, const math::Color &_v);

    IGNITION_MSGS_VISIBLE
    void Set(msgs::Inertial *_i, const math::Inertiald &_m);

    IGNITION_MSGS_VISIBLE
    void Set(msgs::Inertial *_i, const math::MassMatrix3d &_m);

    IGNITION_MSGS_VISIBLE
    void Set(msgs::PlaneGeom *_p, const ignition::math::Planed &_v);

    IGNITION_MSGS_VISIBLE
    void Set(msgs::StringMsg *_p, const std::string &_v);

    IGNITION_MSGS_VISIBLE
    void Set(msgs::Boolean *_p, const bool &_v);

    IGNITION_MSGS_VISIBLE
    void Set(msgs::Int32 *_p, const int32_t &_v);

    IGNITION_MSGS_VISIBLE
    void Set(msgs::UInt32 *_p, const uint32_t &_v);

    IGNITION_MSGS_VISIBLE
    void Set(msgs::Int64 *_p, const int64_t &_v);

    IGNITION_MSGS_VISIBLE
    void Set(msgs::UInt64 *_p, const uint64_t &_v);

    IGNITION_MSGS_VISIBLE
    void Set(msgs::Double *_p, const double &_v);

    IGNITION_MSGS_VISIBLE
    void Set(msgs::Float *_p, const float &_v);

    IGNITION_MSGS_VISIBLE
    void Set(msgs::AxisAlignedBox *_b, const math::AxisAlignedBox &_v);

    IGNITION_MSGS_VISIBLE
    void InitPointCloudPacked(msgs::PointCloudPacked &_msg,
        const std::string &_frameId, bool _memoryAligned,
        const std::vector<std::pair<std::string,
        msgs::PointCloudPacked::Field::DataType>> &_fields);

    // \param[in] _t Type of the discovery message.
    IGNITION_MSGS_VISIBLE
    std::string ToString(const msgs::Discovery::Type &_t);

    IGNITION_MSGS_VISIBLE
    bool ConvertFuelMetadata(const std::string &_modelConfigStr,
                             msgs::FuelMetadata &_meta);

    IGNITION_MSGS_VISIBLE
    bool ConvertFuelMetadata(const msgs::FuelMetadata &_meta,
                             std::string &_modelConfigStr);
    }
  }
}
#endif