rendering/Conversions.hh
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1 /*
2  * Copyright (C) 2012 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 #ifndef GAZEBO_RENDERING_CONVERSIONS_HH_
18 #define GAZEBO_RENDERING_CONVERSIONS_HH_
19 
20 #include <ignition/math/Color.hh>
21 #include <ignition/math/Matrix4.hh>
22 #include <ignition/math/Quaternion.hh>
23 #include <ignition/math/Vector3.hh>
24 
26 
28 #include "gazebo/util/system.hh"
29 
30 namespace gazebo
31 {
32  namespace rendering
33  {
36 
40  class GZ_RENDERING_VISIBLE Conversions
41  {
45  public: static Ogre::ColourValue Convert(
46  const ignition::math::Color &_clr);
47 
51  public: static ignition::math::Color Convert(
52  const Ogre::ColourValue &_clr);
53 
57  public: static ignition::math::Vector3d ConvertIgn(
58  const Ogre::Vector3 &_v);
59 
63  public: static Ogre::Vector3 Convert(const ignition::math::Vector3d &_v);
64 
68  public: static ignition::math::Quaterniond ConvertIgn(
69  const Ogre::Quaternion &_q);
70 
74  public: static Ogre::Quaternion Convert(
75  const ignition::math::Quaterniond &_q);
76 
80  public: static ignition::math::Matrix4d ConvertIgn(
81  const Ogre::Matrix4 &_m);
82 
86  public: static Ogre::Matrix4 Convert(const ignition::math::Matrix4d &_m);
87 
91  public: static Ogre::Node::TransformSpace Convert(
92  const ReferenceFrame &_rf);
93 
97  public: static ReferenceFrame Convert(
98  const Ogre::Node::TransformSpace &_ts);
99  };
101  }
102 }
103 #endif
ReferenceFrame
Frame of reference.
Definition: RenderTypes.hh:244
Forward declarations for the common classes.
Definition: Animation.hh:26
GAZEBO_VISIBLE ignition::math::Vector3d ConvertIgn(const msgs::Vector3d &_v)
Convert a msgs::Vector3d to an ignition::math::Vector.
rendering
Definition: RenderEngine.hh:31
GAZEBO_VISIBLE msgs::Vector3d Convert(const ignition::math::Vector3d &_v)
Convert a ignition::math::Vector3 to a msgs::Vector3d.
Conversions Conversions.hh rendering/Conversions.hh.
Definition: rendering/Conversions.hh:40