conversion.h

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/* Copyright (c) 2017, United States Government, as represented by the
 * Administrator of the National Aeronautics and Space Administration.
 * 
 * All rights reserved.
 * 
 * The Astrobee platform is licensed under the Apache License, Version 2.0
 * (the "License"); you may not use this file except in compliance with the
 * License. You may obtain a copy of the License at
 * 
 *     http://www.apache.org/licenses/LICENSE-2.0
 * 
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 * License for the specific language governing permissions and limitations
 * under the License.
 */
 
#ifndef FF_UTIL_CONVERSION_H_
#define FF_UTIL_CONVERSION_H_
 
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
#include <geometry_msgs/Quaternion.h>
#include <geometry_msgs/Vector3.h>
#include <geometry_msgs/Point.h>
 
namespace ff_util {
 
class Conversion {
 public:
  static void Convert(const geometry_msgs::Point &in, tf2::Vector3 &out) {
    out = tf2::Vector3(in.x, in.y, in.z);
  }
  static void Convert(const geometry_msgs::Vector3 &in, tf2::Vector3 &out) {
    out = tf2::Vector3(in.x, in.y, in.z);
  }
  static void Convert(const geometry_msgs::Quaternion &in, tf2::Quaternion &out) {
    out = tf2::Quaternion(in.x, in.y, in.z, in.w);
  }
  static void Convert(const tf2::Vector3 &in, geometry_msgs::Point &out) {
    out.x = in.x();
    out.y = in.y();
    out.z = in.z();
  }
  static void Convert(const tf2::Vector3 &in, geometry_msgs::Vector3 &out) {
    out.x = in.x();
    out.y = in.y();
    out.z = in.z();
  }
  static void Convert(const tf2::Quaternion &in, geometry_msgs::Quaternion &out) {
    out.w = in.w();
    out.x = in.x();
    out.y = in.y();
    out.z = in.z();
  }
};
 
}  // namespace ff_util
 
#endif  // FF_UTIL_CONVERSION_H_