convert.h

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/*
 * Copyright (c) 2013, Open Source Robotics Foundation
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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 */
 
#ifndef TF2_CONVERT_H
#define TF2_CONVERT_H
 
#include <builtin_interfaces/msg/time.hpp>
 
#include <tf2/transform_datatypes.h>
#include <tf2/exceptions.h>
#include <geometry_msgs/msg/transform_stamped.hpp>
#include <tf2/impl/convert.h>
#include <tf2/visibility_control.h>
 
#include <rosidl_runtime_cpp/traits.hpp>
 
namespace tf2 {
 
template <class T>
  void doTransform(const T& data_in, T& data_out, const geometry_msgs::msg::TransformStamped& transform);
 
template <class T>
  tf2::TimePoint getTimestamp(const T& t);
 
template <class T>
  std::string getFrameId(const T& t);
 
 
 
/* An implementation for Stamped<P> datatypes */
template <class P>
  tf2::TimePoint getTimestamp(const tf2::Stamped<P>& t)
  {
    return t.stamp_;
  }
 
/* An implementation for Stamped<P> datatypes */
template <class P>
  std::string getFrameId(const tf2::Stamped<P>& t)
  {
    return t.frame_id_;
  }
 
template<typename A, typename B>
  B toMsg(const A& a);
 
template<typename A, typename B>
  void fromMsg(const A&, B& b);
 
template <class A, class B>
void convert(const A& a, B& b)
{
  impl::Converter<rosidl_generator_traits::is_message<A>::value,
                  rosidl_generator_traits::is_message<B>::value>::convert(a, b);
}
 
template <class A>
void convert(const A& a1, A& a2)
{
  if(&a1 != &a2)
    a2 = a1;
}
 
 
}
 
#endif //TF2_CONVERT_H