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msgs.hh
Go to the documentation of this file.
1 /*
2  * Copyright (C) 2012-2016 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_MESSAGES_UTILITY_HH_
18 #define _GAZEBO_MESSAGES_UTILITY_HH_
19 
20 #include <string>
21 
22 #include <sdf/sdf.hh>
23 
24 #include <ignition/math/Vector3.hh>
25 #include <ignition/math/Pose3.hh>
26 #include <ignition/math/Plane.hh>
27 
28 #include "gazebo/math/Quaternion.hh"
29 
30 #include "gazebo/msgs/MessageTypes.hh"
31 
32 #include "gazebo/math/MathTypes.hh"
33 #include "gazebo/math/Vector3.hh"
34 #include "gazebo/math/Pose.hh"
35 #include "gazebo/math/Plane.hh"
36 
37 #include "gazebo/common/SphericalCoordinates.hh"
38 #include "gazebo/common/Color.hh"
39 #include "gazebo/common/Time.hh"
40 #include "gazebo/common/Image.hh"
41 
42 namespace gazebo
43 {
46  namespace msgs
47  {
51 
56  GAZEBO_VISIBLE
57  msgs::Request *CreateRequest(const std::string &_request,
58  const std::string &_data = "");
59 
63  GAZEBO_VISIBLE
64  void Init(google::protobuf::Message &_message, const std::string &_id ="");
65 
68  GAZEBO_VISIBLE
69  void Stamp(msgs::Header *_header);
70 
73  GAZEBO_VISIBLE
74  void Stamp(msgs::Time *_time);
75 
77  GAZEBO_VISIBLE
78  std::string Package(const std::string &type,
79  const google::protobuf::Message &message);
81 
85  GAZEBO_VISIBLE
86  msgs::Vector3d Convert(const ignition::math::Vector3d &_v);
87 
91  GAZEBO_VISIBLE
92  msgs::Vector2d Convert(const ignition::math::Vector2d &_v);
93 
97  GAZEBO_VISIBLE
98  msgs::Quaternion Convert(const ignition::math::Quaterniond &_q);
99 
103  GAZEBO_VISIBLE
104  msgs::Pose Convert(const ignition::math::Pose3d &_p);
105 
109  GAZEBO_VISIBLE
110  msgs::Color Convert(const common::Color &_c);
111 
115  GAZEBO_VISIBLE
116  msgs::Time Convert(const common::Time &_t);
117 
121  GAZEBO_VISIBLE
122  msgs::PlaneGeom Convert(const ignition::math::Planed &_p);
123 
128  GAZEBO_VISIBLE
129  msgs::Joint::Type ConvertJointType(const std::string &_str);
130 
135  GAZEBO_VISIBLE
136  std::string ConvertJointType(const msgs::Joint::Type &_type);
137 
141  GAZEBO_VISIBLE
142  msgs::Geometry::Type ConvertGeometryType(const std::string &_str);
143 
147  GAZEBO_VISIBLE
148  std::string ConvertGeometryType(const msgs::Geometry::Type _type);
149 
153  GAZEBO_VISIBLE
154  ignition::math::Vector3d ConvertIgn(const msgs::Vector3d &_v);
155 
159  GAZEBO_VISIBLE
160  ignition::math::Vector2d ConvertIgn(const msgs::Vector2d &_v);
161 
165  GAZEBO_VISIBLE
166  ignition::math::Quaterniond ConvertIgn(const msgs::Quaternion &_q);
167 
171  GAZEBO_VISIBLE
172  ignition::math::Pose3d ConvertIgn(const msgs::Pose &_p);
173 
177  GAZEBO_VISIBLE
178  void Set(common::Image &_img, const msgs::Image &_msg);
179 
183  GAZEBO_VISIBLE
184  common::Color Convert(const msgs::Color &_c);
185 
189  GAZEBO_VISIBLE
190  common::Time Convert(const msgs::Time &_t);
191 
195  GAZEBO_VISIBLE
196  ignition::math::Planed ConvertIgn(const msgs::PlaneGeom &_p);
197 
201  GAZEBO_VISIBLE
202  void Set(msgs::Image *_msg, const common::Image &_i);
203 
207  GAZEBO_VISIBLE
208  void Set(msgs::Vector3d *_pt, const ignition::math::Vector3d &_v);
209 
213  GAZEBO_VISIBLE
214  void Set(msgs::Vector2d *_pt, const ignition::math::Vector2d &_v);
215 
219  GAZEBO_VISIBLE
220  void Set(msgs::Quaternion *_q, const ignition::math::Quaterniond &_v);
221 
225  GAZEBO_VISIBLE
226  void Set(msgs::Pose *_p, const ignition::math::Pose3d &_v);
227 
231  GAZEBO_VISIBLE
232  void Set(msgs::Color *_c, const common::Color &_v);
233 
237  GAZEBO_VISIBLE
238  void Set(msgs::Time *_t, const common::Time &_v);
239 
244  GAZEBO_VISIBLE
245  void Set(msgs::SphericalCoordinates *_s,
246  const common::SphericalCoordinates &_v);
247 
251  GAZEBO_VISIBLE
252  void Set(msgs::PlaneGeom *_p, const ignition::math::Planed &_v);
253 
257  GAZEBO_VISIBLE
258  msgs::TrackVisual TrackVisualFromSDF(sdf::ElementPtr _sdf);
259 
263  GAZEBO_VISIBLE
264  msgs::GUI GUIFromSDF(sdf::ElementPtr _sdf);
265 
269  GAZEBO_VISIBLE
270  msgs::Light LightFromSDF(sdf::ElementPtr _sdf);
271 
275  GAZEBO_VISIBLE
276  msgs::MeshGeom MeshFromSDF(sdf::ElementPtr _sdf);
277 
281  GAZEBO_VISIBLE
282  msgs::Geometry GeometryFromSDF(sdf::ElementPtr _sdf);
283 
287  GAZEBO_VISIBLE
288  msgs::Visual VisualFromSDF(sdf::ElementPtr _sdf);
289 
293  GAZEBO_VISIBLE
294  msgs::Collision CollisionFromSDF(sdf::ElementPtr _sdf);
295 
299  GAZEBO_VISIBLE
300  msgs::Surface SurfaceFromSDF(sdf::ElementPtr _sdf);
301 
305  GAZEBO_VISIBLE
306  msgs::Friction FrictionFromSDF(sdf::ElementPtr _sdf);
307 
311  GAZEBO_VISIBLE
312  msgs::Axis AxisFromSDF(sdf::ElementPtr _sdf);
313 
317  GAZEBO_VISIBLE
318  msgs::Joint JointFromSDF(sdf::ElementPtr _sdf);
319 
323  GAZEBO_VISIBLE
324  msgs::Plugin PluginFromSDF(const sdf::ElementPtr _sdf);
325 
331  GAZEBO_VISIBLE
332  sdf::ElementPtr VisualToSDF(const msgs::Visual &_msg,
333  sdf::ElementPtr _sdf = sdf::ElementPtr());
334 
342  GAZEBO_VISIBLE
343  sdf::ElementPtr MaterialToSDF(const msgs::Material &_msg,
344  sdf::ElementPtr _sdf = sdf::ElementPtr());
345 
350  GAZEBO_VISIBLE
351  msgs::Material::ShaderType ConvertShaderType(const std::string &_str);
352 
357  GAZEBO_VISIBLE
358  std::string ConvertShaderType(const msgs::Material::ShaderType &_type);
359 
363  GAZEBO_VISIBLE
364  msgs::Fog FogFromSDF(sdf::ElementPtr _sdf);
365 
369  GAZEBO_VISIBLE
370  msgs::Scene SceneFromSDF(sdf::ElementPtr _sdf);
371 
378  GAZEBO_VISIBLE
379  msgs::Sensor SensorFromSDF(sdf::ElementPtr _sdf);
380 
385  GAZEBO_VISIBLE
386  msgs::CameraSensor CameraSensorFromSDF(sdf::ElementPtr _sdf);
387 
392  GAZEBO_VISIBLE
393  msgs::RaySensor RaySensorFromSDF(sdf::ElementPtr _sdf);
394 
399  GAZEBO_VISIBLE
400  msgs::ContactSensor ContactSensorFromSDF(sdf::ElementPtr _sdf);
401 
407  GAZEBO_VISIBLE
408  sdf::ElementPtr LightToSDF(const msgs::Light &_msg,
409  sdf::ElementPtr _sdf = sdf::ElementPtr());
410 
416  GAZEBO_VISIBLE
417  sdf::ElementPtr CameraSensorToSDF(const msgs::CameraSensor &_msg,
418  sdf::ElementPtr _sdf = sdf::ElementPtr());
419 
425  GAZEBO_VISIBLE
426  sdf::ElementPtr PluginToSDF(const msgs::Plugin &_plugin,
427  sdf::ElementPtr _sdf = sdf::ElementPtr());
428 
434  GAZEBO_VISIBLE
435  sdf::ElementPtr CollisionToSDF(const msgs::Collision &_msg,
436  sdf::ElementPtr _sdf = sdf::ElementPtr());
437 
445  GAZEBO_VISIBLE
446  sdf::ElementPtr LinkToSDF(const msgs::Link &_msg,
447  sdf::ElementPtr _sdf = sdf::ElementPtr());
448 
454  GAZEBO_VISIBLE
455  sdf::ElementPtr InertialToSDF(const msgs::Inertial &_msg,
456  sdf::ElementPtr _sdf = sdf::ElementPtr());
457 
463  GAZEBO_VISIBLE
464  sdf::ElementPtr SurfaceToSDF(const msgs::Surface &_msg,
465  sdf::ElementPtr _sdf = sdf::ElementPtr());
466 
475  GAZEBO_VISIBLE
476  sdf::ElementPtr GeometryToSDF(const msgs::Geometry &_msg,
477  sdf::ElementPtr _sdf = sdf::ElementPtr());
478 
484  GAZEBO_VISIBLE
485  sdf::ElementPtr MeshToSDF(const msgs::MeshGeom &_msg,
486  sdf::ElementPtr _sdf = sdf::ElementPtr());
487 
495  GAZEBO_VISIBLE
496  void AddBoxLink(msgs::Model &_model, const double _mass,
497  const ignition::math::Vector3d &_size);
498 
508  GAZEBO_VISIBLE
509  void AddCylinderLink(msgs::Model &_model, const double _mass,
510  const double _radius, const double _length);
511 
519  GAZEBO_VISIBLE
520  void AddSphereLink(msgs::Model &_model, const double _mass,
521  const double _radius);
522 
528  GAZEBO_VISIBLE
529  void AddLinkGeom(Model &_msg, const Geometry &_geom);
530 
538  GAZEBO_VISIBLE
539  sdf::ElementPtr ModelToSDF(const msgs::Model &_msg,
540  sdf::ElementPtr _sdf = sdf::ElementPtr());
541 
547  GAZEBO_VISIBLE
548  sdf::ElementPtr JointToSDF(const msgs::Joint &_msg,
549  sdf::ElementPtr _sdf = sdf::ElementPtr());
550 
552  GAZEBO_VISIBLE
553  const google::protobuf::FieldDescriptor *GetFD(
554  google::protobuf::Message &message, const std::string &name);
556 
560  GAZEBO_VISIBLE
561  msgs::Header *GetHeader(google::protobuf::Message &_message);
562 
564  }
565 }
566 
567 #endif
gazebo::msgs::PluginFromSDF
GAZEBO_VISIBLE msgs::Plugin PluginFromSDF(const sdf::ElementPtr _sdf)
Create a msgs::Plugin from a plugin SDF element.
gazebo::msgs::ConvertGeometryType
GAZEBO_VISIBLE msgs::Geometry::Type ConvertGeometryType(const std::string &_str)
Convert a string to a msgs::Geometry::Type enum.
gazebo::msgs::AddLinkGeom
GAZEBO_VISIBLE void AddLinkGeom(Model &_msg, const Geometry &_geom)
Add a link with a collision and visual of specified geometry to a model message.
gazebo::msgs::CollisionFromSDF
GAZEBO_VISIBLE msgs::Collision CollisionFromSDF(sdf::ElementPtr _sdf)
Create a msgs::Collision from a collision SDF element.
gazebo::msgs::GetHeader
GAZEBO_VISIBLE msgs::Header * GetHeader(google::protobuf::Message &_message)
Get the header from a protobuf message.
gazebo::msgs::ConvertIgn
GAZEBO_VISIBLE ignition::math::Vector3d ConvertIgn(const msgs::Vector3d &_v)
Convert a msgs::Vector3d to an ignition::math::Vector.
gazebo::msgs::GUIFromSDF
GAZEBO_VISIBLE msgs::GUI GUIFromSDF(sdf::ElementPtr _sdf)
Create a msgs::GUI from a GUI SDF element.
gazebo::msgs::ConvertJointType
GAZEBO_VISIBLE msgs::Joint::Type ConvertJointType(const std::string &_str)
Convert a string to a msgs::Joint::Type enum.
gazebo::msgs::SensorFromSDF
GAZEBO_VISIBLE msgs::Sensor SensorFromSDF(sdf::ElementPtr _sdf)
Create a msgs::Sensor from a sensor SDF element.
gazebo::msgs::VisualFromSDF
GAZEBO_VISIBLE msgs::Visual VisualFromSDF(sdf::ElementPtr _sdf)
Create a msgs::Visual from a visual SDF element.
gazebo::msgs::LightFromSDF
GAZEBO_VISIBLE msgs::Light LightFromSDF(sdf::ElementPtr _sdf)
Create a msgs::Light from a light SDF element.
gazebo::msgs::MeshToSDF
GAZEBO_VISIBLE sdf::ElementPtr MeshToSDF(const msgs::MeshGeom &_msg, sdf::ElementPtr _sdf=sdf::ElementPtr())
Create or update an SDF element from a msgs::Mesh.
gazebo::msgs::SceneFromSDF
GAZEBO_VISIBLE msgs::Scene SceneFromSDF(sdf::ElementPtr _sdf)
Create a msgs::Scene from a scene SDF element.
gazebo::msgs::ContactSensorFromSDF
GAZEBO_VISIBLE msgs::ContactSensor ContactSensorFromSDF(sdf::ElementPtr _sdf)
Create a msgs::ContactSensor from a contact sensor SDF element.
gazebo::msgs::FrictionFromSDF
GAZEBO_VISIBLE msgs::Friction FrictionFromSDF(sdf::ElementPtr _sdf)
Create a msgs::Friction from a friction SDF element.
gazebo::msgs::VisualToSDF
GAZEBO_VISIBLE sdf::ElementPtr VisualToSDF(const msgs::Visual &_msg, sdf::ElementPtr _sdf=sdf::ElementPtr())
Create or update an SDF element from a msgs::Visual.
gazebo::msgs::JointToSDF
GAZEBO_VISIBLE sdf::ElementPtr JointToSDF(const msgs::Joint &_msg, sdf::ElementPtr _sdf=sdf::ElementPtr())
Create or update an SDF element from msgs::Joint.
gazebo::msgs::AddSphereLink
GAZEBO_VISIBLE void AddSphereLink(msgs::Model &_model, const double _mass, const double _radius)
Add a simple sphere link to a Model message.
gazebo::msgs::ModelToSDF
GAZEBO_VISIBLE sdf::ElementPtr ModelToSDF(const msgs::Model &_msg, sdf::ElementPtr _sdf=sdf::ElementPtr())
Create or update an SDF element from msgs::Model.
gazebo::msgs::LinkToSDF
GAZEBO_VISIBLE sdf::ElementPtr LinkToSDF(const msgs::Link &_msg, sdf::ElementPtr _sdf=sdf::ElementPtr())
Create or update an SDF element from a msgs::Link.
gazebo::msgs::LightToSDF
GAZEBO_VISIBLE sdf::ElementPtr LightToSDF(const msgs::Light &_msg, sdf::ElementPtr _sdf=sdf::ElementPtr())
Create or update an SDF element from a msgs::Light.
gazebo::msgs::AddBoxLink
GAZEBO_VISIBLE void AddBoxLink(msgs::Model &_model, const double _mass, const ignition::math::Vector3d &_size)
Add a simple box link to a Model message.
gazebo::msgs::InertialToSDF
GAZEBO_VISIBLE sdf::ElementPtr InertialToSDF(const msgs::Inertial &_msg, sdf::ElementPtr _sdf=sdf::ElementPtr())
Create or update an SDF element from a msgs::Inertial.
gazebo::msgs::Convert
GAZEBO_VISIBLE msgs::Vector3d Convert(const ignition::math::Vector3d &_v)
Convert a ignition::math::Vector3 to a msgs::Vector3d.
gazebo::msgs::MeshFromSDF
GAZEBO_VISIBLE msgs::MeshGeom MeshFromSDF(sdf::ElementPtr _sdf)
Create a msgs::MeshGeom from a mesh SDF element.
gazebo::msgs::GeometryFromSDF
GAZEBO_VISIBLE msgs::Geometry GeometryFromSDF(sdf::ElementPtr _sdf)
Create a msgs::Geometry from a geometry SDF element.
gazebo::msgs::GeometryToSDF
GAZEBO_VISIBLE sdf::ElementPtr GeometryToSDF(const msgs::Geometry &_msg, sdf::ElementPtr _sdf=sdf::ElementPtr())
Create or update an SDF element from a msgs::Geometry If _sdf is supplied and the _msg has non-empty ...
gazebo::msgs::ConvertShaderType
GAZEBO_VISIBLE msgs::Material::ShaderType ConvertShaderType(const std::string &_str)
Convert a string to a msgs::Material::ShaderType enum.
gazebo::msgs::Set
GAZEBO_VISIBLE void Set(common::Image &_img, const msgs::Image &_msg)
Convert a msgs::Image to a common::Image.
MathTypes.hh
Forward declarations for the math classes.
gazebo::msgs::CameraSensorToSDF
GAZEBO_VISIBLE sdf::ElementPtr CameraSensorToSDF(const msgs::CameraSensor &_msg, sdf::ElementPtr _sdf=sdf::ElementPtr())
Create or update an SDF element from a msgs::CameraSensor.
gazebo::msgs::FogFromSDF
GAZEBO_VISIBLE msgs::Fog FogFromSDF(sdf::ElementPtr _sdf)
Create a msgs::Fog from a fog SDF element.
gazebo::msgs::MaterialToSDF
GAZEBO_VISIBLE sdf::ElementPtr MaterialToSDF(const msgs::Material &_msg, sdf::ElementPtr _sdf=sdf::ElementPtr())
Create or update an SDF element from a msgs::Material If _sdf is supplied and _msg has script uri's t...
gazebo::msgs::SurfaceToSDF
GAZEBO_VISIBLE sdf::ElementPtr SurfaceToSDF(const msgs::Surface &_msg, sdf::ElementPtr _sdf=sdf::ElementPtr())
Create or update an SDF element from a msgs::Surface.
gazebo::msgs::Stamp
GAZEBO_VISIBLE void Stamp(msgs::Header *_header)
Time stamp a header.
gazebo::msgs::Init
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
gazebo::msgs::SurfaceFromSDF
GAZEBO_VISIBLE msgs::Surface SurfaceFromSDF(sdf::ElementPtr _sdf)
Create a msgs::Surface from a surface SDF element.
gazebo::msgs::AxisFromSDF
GAZEBO_VISIBLE msgs::Axis AxisFromSDF(sdf::ElementPtr _sdf)
Create a msgs::Axis from an axis SDF element.
gazebo::msgs::PluginToSDF
GAZEBO_VISIBLE sdf::ElementPtr PluginToSDF(const msgs::Plugin &_plugin, sdf::ElementPtr _sdf=sdf::ElementPtr())
Create or update an SDF element from a msgs::Plugin.
gazebo::msgs::TrackVisualFromSDF
GAZEBO_VISIBLE msgs::TrackVisual TrackVisualFromSDF(sdf::ElementPtr _sdf)
Create a msgs::TrackVisual from a track visual SDF element.
gazebo::msgs::RaySensorFromSDF
GAZEBO_VISIBLE msgs::RaySensor RaySensorFromSDF(sdf::ElementPtr _sdf)
Create a msgs::RaySensor from a ray sensor SDF element.
gazebo::msgs::CollisionToSDF
GAZEBO_VISIBLE sdf::ElementPtr CollisionToSDF(const msgs::Collision &_msg, sdf::ElementPtr _sdf=sdf::ElementPtr())
Create or update an SDF element from a msgs::Collision.
gazebo::msgs::JointFromSDF
GAZEBO_VISIBLE msgs::Joint JointFromSDF(sdf::ElementPtr _sdf)
Create a msgs::Joint from a joint SDF element.
GAZEBO_VISIBLE
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:59
gazebo::msgs::CreateRequest
GAZEBO_VISIBLE msgs::Request * CreateRequest(const std::string &_request, const std::string &_data="")
Create a request message.
gazebo::msgs::CameraSensorFromSDF
GAZEBO_VISIBLE msgs::CameraSensor CameraSensorFromSDF(sdf::ElementPtr _sdf)
Create a msgs::CameraSensor from a camera sensor SDF element.
gazebo::msgs::AddCylinderLink
GAZEBO_VISIBLE void AddCylinderLink(msgs::Model &_model, const double _mass, const double _radius, const double _length)
Add a simple cylinder link to a Model message.