msgs.hh
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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
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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 
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 
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 
57  msgs::Request *CreateRequest(const std::string &_request,
58  const std::string &_data = "");
59 
64  void Init(google::protobuf::Message &_message, const std::string &_id ="");
65 
69  void Stamp(msgs::Header *_header);
70 
74  void Stamp(msgs::Time *_time);
75 
78  std::string Package(const std::string &type,
79  const google::protobuf::Message &message);
81 
86  msgs::Vector3d Convert(const ignition::math::Vector3d &_v);
87 
92  msgs::Vector2d Convert(const ignition::math::Vector2d &_v);
93 
98  msgs::Quaternion Convert(const ignition::math::Quaterniond &_q);
99 
104  msgs::Pose Convert(const ignition::math::Pose3d &_p);
105 
110  msgs::Color Convert(const common::Color &_c);
111 
116  msgs::Time Convert(const common::Time &_t);
117 
122  msgs::PlaneGeom Convert(const ignition::math::Planed &_p);
123 
129  msgs::Joint::Type ConvertJointType(const std::string &_str);
130 
136  std::string ConvertJointType(const msgs::Joint::Type &_type);
137 
142  msgs::Geometry::Type ConvertGeometryType(const std::string &_str);
143 
148  std::string ConvertGeometryType(const msgs::Geometry::Type _type);
149 
154  ignition::math::Vector3d ConvertIgn(const msgs::Vector3d &_v);
155 
160  ignition::math::Vector2d ConvertIgn(const msgs::Vector2d &_v);
161 
166  ignition::math::Quaterniond ConvertIgn(const msgs::Quaternion &_q);
167 
172  ignition::math::Pose3d ConvertIgn(const msgs::Pose &_p);
173 
178  void Set(common::Image &_img, const msgs::Image &_msg);
179 
184  common::Color Convert(const msgs::Color &_c);
185 
190  common::Time Convert(const msgs::Time &_t);
191 
196  ignition::math::Planed ConvertIgn(const msgs::PlaneGeom &_p);
197 
202  void Set(msgs::Image *_msg, const common::Image &_i);
203 
208  void Set(msgs::Vector3d *_pt, const ignition::math::Vector3d &_v);
209 
214  void Set(msgs::Vector2d *_pt, const ignition::math::Vector2d &_v);
215 
220  void Set(msgs::Quaternion *_q, const ignition::math::Quaterniond &_v);
221 
226  void Set(msgs::Pose *_p, const ignition::math::Pose3d &_v);
227 
232  void Set(msgs::Color *_c, const common::Color &_v);
233 
238  void Set(msgs::Time *_t, const common::Time &_v);
239 
245  void Set(msgs::SphericalCoordinates *_s,
246  const common::SphericalCoordinates &_v);
247 
252  void Set(msgs::PlaneGeom *_p, const ignition::math::Planed &_v);
253 
258  msgs::TrackVisual TrackVisualFromSDF(sdf::ElementPtr _sdf);
259 
264  msgs::GUI GUIFromSDF(sdf::ElementPtr _sdf);
265 
270  msgs::Light LightFromSDF(sdf::ElementPtr _sdf);
271 
276  msgs::MeshGeom MeshFromSDF(sdf::ElementPtr _sdf);
277 
282  msgs::Geometry GeometryFromSDF(sdf::ElementPtr _sdf);
283 
288  msgs::Visual VisualFromSDF(sdf::ElementPtr _sdf);
289 
294  msgs::Collision CollisionFromSDF(sdf::ElementPtr _sdf);
295 
300  msgs::Surface SurfaceFromSDF(sdf::ElementPtr _sdf);
301 
306  msgs::Friction FrictionFromSDF(sdf::ElementPtr _sdf);
307 
312  msgs::Axis AxisFromSDF(sdf::ElementPtr _sdf);
313 
318  msgs::Joint JointFromSDF(sdf::ElementPtr _sdf);
319 
324  msgs::Plugin PluginFromSDF(const sdf::ElementPtr _sdf);
325 
332  sdf::ElementPtr VisualToSDF(const msgs::Visual &_msg,
333  sdf::ElementPtr _sdf = sdf::ElementPtr());
334 
343  sdf::ElementPtr MaterialToSDF(const msgs::Material &_msg,
344  sdf::ElementPtr _sdf = sdf::ElementPtr());
345 
351  msgs::Material::ShaderType ConvertShaderType(const std::string &_str);
352 
358  std::string ConvertShaderType(const msgs::Material::ShaderType &_type);
359 
364  msgs::Fog FogFromSDF(sdf::ElementPtr _sdf);
365 
370  msgs::Scene SceneFromSDF(sdf::ElementPtr _sdf);
371 
382  msgs::Sensor SensorFromSDF(sdf::ElementPtr _sdf);
383 
389  msgs::CameraSensor CameraSensorFromSDF(sdf::ElementPtr _sdf);
390 
396  msgs::RaySensor RaySensorFromSDF(sdf::ElementPtr _sdf);
397 
403  msgs::ContactSensor ContactSensorFromSDF(sdf::ElementPtr _sdf);
404 
411  sdf::ElementPtr LightToSDF(const msgs::Light &_msg,
412  sdf::ElementPtr _sdf = sdf::ElementPtr());
413 
420  sdf::ElementPtr CameraSensorToSDF(const msgs::CameraSensor &_msg,
421  sdf::ElementPtr _sdf = sdf::ElementPtr());
422 
429  sdf::ElementPtr PluginToSDF(const msgs::Plugin &_plugin,
430  sdf::ElementPtr _sdf = sdf::ElementPtr());
431 
438  sdf::ElementPtr CollisionToSDF(const msgs::Collision &_msg,
439  sdf::ElementPtr _sdf = sdf::ElementPtr());
440 
449  sdf::ElementPtr LinkToSDF(const msgs::Link &_msg,
450  sdf::ElementPtr _sdf = sdf::ElementPtr());
451 
458  sdf::ElementPtr InertialToSDF(const msgs::Inertial &_msg,
459  sdf::ElementPtr _sdf = sdf::ElementPtr());
460 
467  sdf::ElementPtr SurfaceToSDF(const msgs::Surface &_msg,
468  sdf::ElementPtr _sdf = sdf::ElementPtr());
469 
479  sdf::ElementPtr GeometryToSDF(const msgs::Geometry &_msg,
480  sdf::ElementPtr _sdf = sdf::ElementPtr());
481 
488  sdf::ElementPtr MeshToSDF(const msgs::MeshGeom &_msg,
489  sdf::ElementPtr _sdf = sdf::ElementPtr());
490 
499  void AddBoxLink(msgs::Model &_model, const double _mass,
500  const ignition::math::Vector3d &_size);
501 
512  void AddCylinderLink(msgs::Model &_model, const double _mass,
513  const double _radius, const double _length);
514 
523  void AddSphereLink(msgs::Model &_model, const double _mass,
524  const double _radius);
525 
532  void AddLinkGeom(Model &_msg, const Geometry &_geom);
533 
542  sdf::ElementPtr ModelToSDF(const msgs::Model &_msg,
543  sdf::ElementPtr _sdf = sdf::ElementPtr());
544 
551  sdf::ElementPtr JointToSDF(const msgs::Joint &_msg,
552  sdf::ElementPtr _sdf = sdf::ElementPtr());
553 
556  const google::protobuf::FieldDescriptor *GetFD(
557  google::protobuf::Message &message, const std::string &name);
559 
564  msgs::Header *GetHeader(google::protobuf::Message &_message);
565 
571  msgs::GPSSensor GPSSensorFromSDF(sdf::ElementPtr _sdf);
572 
578  msgs::SensorNoise SensorNoiseFromSDF(sdf::ElementPtr _elem);
579 
585  msgs::IMUSensor IMUSensorFromSDF(sdf::ElementPtr _sdf);
586 
593  msgs::LogicalCameraSensor LogicalCameraSensorFromSDF(sdf::ElementPtr _sdf);
594 
601  sdf::ElementPtr LogicalCameraSensorToSDF(
602  const msgs::LogicalCameraSensor &_msg,
603  sdf::ElementPtr _sdf = sdf::ElementPtr());
604 
611  sdf::ElementPtr IMUSensorToSDF(const msgs::IMUSensor &_msg,
612  sdf::ElementPtr _sdf = sdf::ElementPtr());
613 
620  sdf::ElementPtr SensorNoiseToSDF(const msgs::SensorNoise &_msg,
621  sdf::ElementPtr _sdf = sdf::ElementPtr());
622 
629  sdf::ElementPtr GPSSensorToSDF(const msgs::GPSSensor &_msg,
630  sdf::ElementPtr _sdf = sdf::ElementPtr());
632  }
633 }
634 
635 #endif
GAZEBO_VISIBLE msgs::Plugin PluginFromSDF(const sdf::ElementPtr _sdf)
Create a msgs::Plugin from a plugin SDF element.
GAZEBO_VISIBLE msgs::Geometry::Type ConvertGeometryType(const std::string &_str)
Convert a string to a msgs::Geometry::Type enum.
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_VISIBLE msgs::Collision CollisionFromSDF(sdf::ElementPtr _sdf)
Create a msgs::Collision from a collision SDF element.
GAZEBO_VISIBLE msgs::Header * GetHeader(google::protobuf::Message &_message)
Get the header from a protobuf message.
GAZEBO_VISIBLE msgs::GPSSensor GPSSensorFromSDF(sdf::ElementPtr _sdf)
Create a msgs::GPSSensor from a gps sensor SDF element.
GAZEBO_VISIBLE ignition::math::Vector3d ConvertIgn(const msgs::Vector3d &_v)
Convert a msgs::Vector3d to an ignition::math::Vector.
GAZEBO_VISIBLE msgs::GUI GUIFromSDF(sdf::ElementPtr _sdf)
Create a msgs::GUI from a GUI SDF element.
GAZEBO_VISIBLE msgs::Joint::Type ConvertJointType(const std::string &_str)
Convert a string to a msgs::Joint::Type enum.
GAZEBO_VISIBLE msgs::Sensor SensorFromSDF(sdf::ElementPtr _sdf)
Create a msgs::Sensor from a sensor SDF element.
GAZEBO_VISIBLE msgs::Visual VisualFromSDF(sdf::ElementPtr _sdf)
Create a msgs::Visual from a visual SDF element.
GAZEBO_VISIBLE sdf::ElementPtr LogicalCameraSensorToSDF(const msgs::LogicalCameraSensor &_msg, sdf::ElementPtr _sdf=sdf::ElementPtr())
Create or update an SDF element from a msgs::LogicalCameraSensor.
GAZEBO_VISIBLE msgs::Light LightFromSDF(sdf::ElementPtr _sdf)
Create a msgs::Light from a light SDF element.
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_VISIBLE msgs::Scene SceneFromSDF(sdf::ElementPtr _sdf)
Create a msgs::Scene from a scene SDF element.
GAZEBO_VISIBLE msgs::ContactSensor ContactSensorFromSDF(sdf::ElementPtr _sdf)
Create a msgs::ContactSensor from a contact sensor SDF element.
GAZEBO_VISIBLE msgs::LogicalCameraSensor LogicalCameraSensorFromSDF(sdf::ElementPtr _sdf)
Create a msgs::LogicalCameraSensor from a logical camera sensor.
GAZEBO_VISIBLE msgs::Friction FrictionFromSDF(sdf::ElementPtr _sdf)
Create a msgs::Friction from a friction SDF element.
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_VISIBLE sdf::ElementPtr JointToSDF(const msgs::Joint &_msg, sdf::ElementPtr _sdf=sdf::ElementPtr())
Create or update an SDF element from msgs::Joint.
GAZEBO_VISIBLE void AddSphereLink(msgs::Model &_model, const double _mass, const double _radius)
Add a simple sphere link to a Model message.
GAZEBO_VISIBLE sdf::ElementPtr SensorNoiseToSDF(const msgs::SensorNoise &_msg, sdf::ElementPtr _sdf=sdf::ElementPtr())
Create or update an SDF element from a msgs::SensorNoise.
GAZEBO_VISIBLE sdf::ElementPtr ModelToSDF(const msgs::Model &_msg, sdf::ElementPtr _sdf=sdf::ElementPtr())
Create or update an SDF element from msgs::Model.
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_VISIBLE sdf::ElementPtr LightToSDF(const msgs::Light &_msg, sdf::ElementPtr _sdf=sdf::ElementPtr())
Create or update an SDF element from a msgs::Light.
GAZEBO_VISIBLE msgs::SensorNoise SensorNoiseFromSDF(sdf::ElementPtr _elem)
Create a msgs::SensorNoise from a sensor noise SDF element.
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_VISIBLE sdf::ElementPtr InertialToSDF(const msgs::Inertial &_msg, sdf::ElementPtr _sdf=sdf::ElementPtr())
Create or update an SDF element from a msgs::Inertial.
GAZEBO_VISIBLE msgs::Vector3d Convert(const ignition::math::Vector3d &_v)
Convert a ignition::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 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_VISIBLE msgs::Material::ShaderType ConvertShaderType(const std::string &_str)
Convert a string to a msgs::Material::ShaderType enum.
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 sdf::ElementPtr CameraSensorToSDF(const msgs::CameraSensor &_msg, sdf::ElementPtr _sdf=sdf::ElementPtr())
Create or update an SDF element from a msgs::CameraSensor.
GAZEBO_VISIBLE msgs::Fog FogFromSDF(sdf::ElementPtr _sdf)
Create a msgs::Fog from a fog SDF element.
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_VISIBLE sdf::ElementPtr SurfaceToSDF(const msgs::Surface &_msg, sdf::ElementPtr _sdf=sdf::ElementPtr())
Create or update an SDF element from a msgs::Surface.
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::Surface SurfaceFromSDF(sdf::ElementPtr _sdf)
Create a msgs::Surface from a surface SDF element.
GAZEBO_VISIBLE sdf::ElementPtr IMUSensorToSDF(const msgs::IMUSensor &_msg, sdf::ElementPtr _sdf=sdf::ElementPtr())
Create or update an SDF element from a msgs::IMUSensor.
GAZEBO_VISIBLE msgs::Axis AxisFromSDF(sdf::ElementPtr _sdf)
Create a msgs::Axis from an axis SDF element.
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_VISIBLE msgs::TrackVisual TrackVisualFromSDF(sdf::ElementPtr _sdf)
Create a msgs::TrackVisual from a track visual SDF element.
GAZEBO_VISIBLE msgs::RaySensor RaySensorFromSDF(sdf::ElementPtr _sdf)
Create a msgs::RaySensor from a ray sensor SDF element.
GAZEBO_VISIBLE msgs::IMUSensor IMUSensorFromSDF(sdf::ElementPtr _sdf)
Create a msgs::IMUSensor from an imu sensor SDF element.
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_VISIBLE msgs::Joint JointFromSDF(sdf::ElementPtr _sdf)
Create a msgs::Joint from a joint SDF element.
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:59
GAZEBO_VISIBLE msgs::Request * CreateRequest(const std::string &_request, const std::string &_data="")
Create a request message.
GAZEBO_VISIBLE sdf::ElementPtr GPSSensorToSDF(const msgs::GPSSensor &_msg, sdf::ElementPtr _sdf=sdf::ElementPtr())
Create or update an SDF element from a msgs::GPSSensor.
GAZEBO_VISIBLE msgs::CameraSensor CameraSensorFromSDF(sdf::ElementPtr _sdf)
Create a msgs::CameraSensor from a camera sensor SDF element.
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.