17 #ifndef MESSAGES_UTILITY_H
18 #define MESSAGES_UTILITY_H
24 #include "gazebo/msgs/MessageTypes.hh"
53 const std::string &_data =
"");
59 void Init(google::protobuf::Message &_message,
const std::string &_id =
"");
64 void Stamp(msgs::Header *_header);
69 void Stamp(msgs::Time *_time);
73 std::string Package(
const std::string &type,
74 const google::protobuf::Message &message);
81 msgs::Vector3d
Convert(
const math::Vector3 &_v);
87 msgs::Quaternion
Convert(
const math::Quaternion &_q);
93 msgs::Pose
Convert(
const math::Pose &_p);
99 msgs::Color
Convert(
const common::Color &_c);
105 msgs::Time
Convert(
const common::Time &_t);
111 msgs::PlaneGeom
Convert(
const math::Plane &_p);
117 math::Vector3
Convert(
const msgs::Vector3d &_v);
123 math::Quaternion
Convert(
const msgs::Quaternion &_q);
129 math::Pose
Convert(
const msgs::Pose &_p);
135 void Set(common::Image &_img,
const msgs::Image &_msg);
141 common::Color
Convert(
const msgs::Color &_c);
147 common::Time
Convert(
const msgs::Time &_t);
153 math::Plane
Convert(
const msgs::PlaneGeom &_p);
159 void Set(msgs::Image *_msg,
const common::Image &_i);
165 void Set(msgs::Vector3d *_pt,
const math::Vector3 &_v);
171 void Set(msgs::Vector2d *_pt,
const math::Vector2d &_v);
177 void Set(msgs::Quaternion *_q,
const math::Quaternion &_v);
183 void Set(msgs::Pose *_p,
const math::Pose &_v);
189 void Set(msgs::Color *_c,
const common::Color &_v);
195 void Set(msgs::Time *_t,
const common::Time &_v);
201 void Set(msgs::SphericalCoordinates *_s,
202 const common::SphericalCoordinates &_v);
208 void Set(msgs::PlaneGeom *_p,
const math::Plane &_v);
260 const google::protobuf::FieldDescriptor *GetFD(
261 google::protobuf::Message &message,
const std::string &name);
268 msgs::Header *
GetHeader(google::protobuf::Message &_message);
GAZEBO_VISIBLE msgs::Header * GetHeader(google::protobuf::Message &_message)
Get the header from a protobuf message.
Forward declarations for the common classes.
Definition: Animation.hh:24
GAZEBO_VISIBLE msgs::GUI GUIFromSDF(sdf::ElementPtr _sdf)
Create a msgs::GUI from a GUI SDF element.
GAZEBO_VISIBLE msgs::Visual VisualFromSDF(sdf::ElementPtr _sdf)
Create a msgs::Visual from a visual SDF element.
GAZEBO_VISIBLE msgs::Light LightFromSDF(sdf::ElementPtr _sdf)
Create a msgs::Light from a light SDF element.
GAZEBO_VISIBLE msgs::Scene SceneFromSDF(sdf::ElementPtr _sdf)
Create a msgs::Scene from a scene SDF element.
GAZEBO_VISIBLE msgs::Vector3d Convert(const math::Vector3 &_v)
Convert a math::Vector3 to a msgs::Vector3d.
GAZEBO_VISIBLE msgs::MeshGeom MeshFromSDF(sdf::ElementPtr _sdf)
Create a msgs::MeshGeom from a mesh SDF element.
GAZEBO_VISIBLE msgs::Geometry GeometryFromSDF(sdf::ElementPtr _sdf)
Create a msgs::Geometry from a geometry SDF element.
GAZEBO_VISIBLE void Set(common::Image &_img, const msgs::Image &_msg)
Convert a msgs::Image to a common::Image.
Forward declarations for the math classes.
GAZEBO_VISIBLE msgs::Fog FogFromSDF(sdf::ElementPtr _sdf)
Create a msgs::Fog from a fog SDF element.
GAZEBO_VISIBLE void Stamp(msgs::Header *_header)
Time stamp a header.
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
GAZEBO_VISIBLE msgs::TrackVisual TrackVisualFromSDF(sdf::ElementPtr _sdf)
Create a msgs::TrackVisual from a track visual SDF element.
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:48
GAZEBO_VISIBLE msgs::Request * CreateRequest(const std::string &_request, const std::string &_data="")
Create a request message.