/usr/include/rviz/msg_conversions.h is in librviz-dev 1.11.10+dfsg-1build1.
This file is owned by root:root, with mode 0o644.
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* Copyright (c) 2012, Willow Garage, Inc.
* 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
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef MSG_CONVERSIONS_H
#define MSG_CONVERSIONS_H
#include "OgreVector3.h"
#include "OgreQuaternion.h"
#include <geometry_msgs/Point.h>
#include <geometry_msgs/Vector3.h>
#include <geometry_msgs/Quaternion.h>
namespace rviz {
// This file contains some convenience functions for Ogre / geometry_msgs conversions.
// pointMsgToOgre - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //
static inline Ogre::Vector3 pointMsgToOgre(const geometry_msgs::Point& m)
{
return Ogre::Vector3(m.x, m.y, m.z);
}
static inline void pointMsgToOgre(const geometry_msgs::Point &m, Ogre::Vector3& o)
{
o.x = m.x; o.y = m.y; o.z = m.z;
}
// vector3MsgToOgre - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //
static inline Ogre::Vector3 vector3MsgToOgre(const geometry_msgs::Vector3& m)
{
return Ogre::Vector3(m.x, m.y, m.z);
}
static inline void vector3MsgToOgre(const geometry_msgs::Vector3 &m, Ogre::Vector3& o)
{
o.x = m.x; o.y = m.y; o.z = m.z;
}
// quaternionMsgToOgre - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //
static inline Ogre::Quaternion quaternionMsgToOgre(const geometry_msgs::Quaternion& m)
{
return Ogre::Quaternion(m.w, m.x, m.y, m.z);
}
static inline void quaternionMsgToOgre(const geometry_msgs::Quaternion &m, Ogre::Quaternion& o)
{
o.w = m.w; o.x = m.x; o.y = m.y; o.z = m.z;
}
// pointOgreToMsg - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //
static inline void pointOgreToMsg(const Ogre::Vector3 &o, geometry_msgs::Point &m)
{
m.x = o.x; m.y = o.y; m.z = o.z;
}
static inline geometry_msgs::Point pointOgreToMsg(const Ogre::Vector3 &o)
{
geometry_msgs::Point m;
pointOgreToMsg(o, m);
return m;
}
// vectorOgreToMsg - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //
static inline void vector3OgreToMsg(const Ogre::Vector3 &o, geometry_msgs::Vector3 &m)
{
m.x = o.x; m.y = o.y; m.z = o.z;
}
static inline geometry_msgs::Vector3 vector3OgreToMsg(const Ogre::Vector3 &o)
{
geometry_msgs::Vector3 m;
vector3OgreToMsg(o, m);
return m;
}
// quaternionOgreToMsg - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //
static inline void quaternionOgreToMsg(const Ogre::Quaternion &o, geometry_msgs::Quaternion &m)
{
m.w = o.w; m.x = o.x; m.y = o.y; m.z = o.z;
}
static inline geometry_msgs::Quaternion quaternionOgreToMsg(const Ogre::Quaternion &o)
{
geometry_msgs::Quaternion m;
quaternionOgreToMsg(o, m);
return m;
}
} // namespace rviz
#endif
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