conversions.hpp

/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2017, Locus Robotics
 *  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 copyright holder 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 HOLDER 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 NAV_2D_UTILS__CONVERSIONS_HPP_
#define NAV_2D_UTILS__CONVERSIONS_HPP_
 
#include <vector>
#include <string>
#include "geometry_msgs/msg/pose.hpp"
#include "geometry_msgs/msg/twist.hpp"
#include "nav_2d_msgs/msg/twist2_d.hpp"
#include "nav_2d_msgs/msg/path2_d.hpp"
#include "nav_2d_msgs/msg/pose2_d_stamped.hpp"
#include "nav_msgs/msg/path.hpp"
#include "rclcpp/rclcpp.hpp"
#include "tf2/convert.h"
 
namespace nav_2d_utils
{
geometry_msgs::msg::Twist twist2Dto3D(const nav_2d_msgs::msg::Twist2D & cmd_vel_2d);
nav_2d_msgs::msg::Twist2D twist3Dto2D(const geometry_msgs::msg::Twist & cmd_vel);
// nav_2d_msgs::msg::Pose2DStamped stampedPoseToPose2D(const tf2::Stamped<tf2::Pose>& pose);
nav_2d_msgs::msg::Pose2DStamped poseStampedToPose2D(const geometry_msgs::msg::PoseStamped & pose);
geometry_msgs::msg::Pose2D poseToPose2D(const geometry_msgs::msg::Pose & pose);
geometry_msgs::msg::Pose pose2DToPose(const geometry_msgs::msg::Pose2D & pose2d);
geometry_msgs::msg::PoseStamped pose2DToPoseStamped(
  const nav_2d_msgs::msg::Pose2DStamped & pose2d);
geometry_msgs::msg::PoseStamped pose2DToPoseStamped(
  const geometry_msgs::msg::Pose2D & pose2d,
  const std::string & frame, const rclcpp::Time & stamp);
nav_msgs::msg::Path posesToPath(const std::vector<geometry_msgs::msg::PoseStamped> & poses);
nav_2d_msgs::msg::Path2D pathToPath2D(const nav_msgs::msg::Path & path);
nav_msgs::msg::Path poses2DToPath(
  const std::vector<geometry_msgs::msg::Pose2D> & poses,
  const std::string & frame, const rclcpp::Time & stamp);
nav_msgs::msg::Path pathToPath(const nav_2d_msgs::msg::Path2D & path2d);
 
}  // namespace nav_2d_utils
 
#endif  // NAV_2D_UTILS__CONVERSIONS_HPP_