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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 // Remove gazebo/math includes in Gazebo8
33 // Adding the word deprecation so that a grep will find this.
34 #include "gazebo/math/MathTypes.hh"
35 #include "gazebo/math/Vector3.hh"
36 #include "gazebo/math/Pose.hh"
37 #include "gazebo/math/Plane.hh"
38 
39 #include "gazebo/common/SphericalCoordinates.hh"
40 #include "gazebo/common/Color.hh"
41 #include "gazebo/common/Time.hh"
42 #include "gazebo/common/Image.hh"
43 
44 namespace gazebo
45 {
48  namespace msgs
49  {
53 
58  GAZEBO_VISIBLE
59  msgs::Request *CreateRequest(const std::string &_request,
60  const std::string &_data = "");
61 
65  GAZEBO_VISIBLE
66  void Init(google::protobuf::Message &_message, const std::string &_id ="");
67 
70  GAZEBO_VISIBLE
71  void Stamp(msgs::Header *_header);
72 
75  GAZEBO_VISIBLE
76  void Stamp(msgs::Time *_time);
77 
79  GAZEBO_VISIBLE
80  std::string Package(const std::string &type,
81  const google::protobuf::Message &message);
83 
87  GAZEBO_VISIBLE
88  msgs::Vector3d Convert(const ignition::math::Vector3d &_v);
89 
93  GAZEBO_VISIBLE
94  msgs::Vector2d Convert(const ignition::math::Vector2d &_v);
95 
99  GAZEBO_VISIBLE
100  msgs::Quaternion Convert(const ignition::math::Quaterniond &_q);
101 
105  GAZEBO_VISIBLE
106  msgs::Pose Convert(const ignition::math::Pose3d &_p);
107 
111  GAZEBO_VISIBLE
112  msgs::Color Convert(const common::Color &_c);
113 
117  GAZEBO_VISIBLE
118  msgs::Time Convert(const common::Time &_t);
119 
123  GAZEBO_VISIBLE
124  msgs::PlaneGeom Convert(const ignition::math::Planed &_p);
125 
130  GAZEBO_VISIBLE
131  msgs::Joint::Type ConvertJointType(const std::string &_str);
132 
137  GAZEBO_VISIBLE
138  std::string ConvertJointType(const msgs::Joint::Type &_type);
139 
143  GAZEBO_VISIBLE
144  msgs::Geometry::Type ConvertGeometryType(const std::string &_str);
145 
149  GAZEBO_VISIBLE
150  std::string ConvertGeometryType(const msgs::Geometry::Type _type);
151 
155  GAZEBO_VISIBLE
156  ignition::math::Vector3d ConvertIgn(const msgs::Vector3d &_v);
157 
161  GAZEBO_VISIBLE
162  ignition::math::Vector2d ConvertIgn(const msgs::Vector2d &_v);
163 
167  GAZEBO_VISIBLE
168  ignition::math::Quaterniond ConvertIgn(const msgs::Quaternion &_q);
169 
173  GAZEBO_VISIBLE
174  ignition::math::Pose3d ConvertIgn(const msgs::Pose &_p);
175 
179  GAZEBO_VISIBLE
180  void Set(common::Image &_img, const msgs::Image &_msg);
181 
185  GAZEBO_VISIBLE
186  common::Color Convert(const msgs::Color &_c);
187 
191  GAZEBO_VISIBLE
192  common::Time Convert(const msgs::Time &_t);
193 
197  GAZEBO_VISIBLE
198  ignition::math::Planed ConvertIgn(const msgs::PlaneGeom &_p);
199 
203  GAZEBO_VISIBLE
204  void Set(msgs::Image *_msg, const common::Image &_i);
205 
209  GAZEBO_VISIBLE
210  void Set(msgs::Vector3d *_pt, const ignition::math::Vector3d &_v);
211 
215  GAZEBO_VISIBLE
216  void Set(msgs::Vector2d *_pt, const ignition::math::Vector2d &_v);
217 
221  GAZEBO_VISIBLE
222  void Set(msgs::Quaternion *_q, const ignition::math::Quaterniond &_v);
223 
227  GAZEBO_VISIBLE
228  void Set(msgs::Pose *_p, const ignition::math::Pose3d &_v);
229 
233  GAZEBO_VISIBLE
234  void Set(msgs::Color *_c, const common::Color &_v);
235 
239  GAZEBO_VISIBLE
240  void Set(msgs::Time *_t, const common::Time &_v);
241 
246  GAZEBO_VISIBLE
247  void Set(msgs::SphericalCoordinates *_s,
248  const common::SphericalCoordinates &_v);
249 
253  GAZEBO_VISIBLE
254  void Set(msgs::PlaneGeom *_p, const ignition::math::Planed &_v);
255 
259  GAZEBO_VISIBLE
260  msgs::TrackVisual TrackVisualFromSDF(sdf::ElementPtr _sdf);
261 
265  GAZEBO_VISIBLE
266  msgs::GUI GUIFromSDF(sdf::ElementPtr _sdf);
267 
271  GAZEBO_VISIBLE
272  msgs::Light LightFromSDF(sdf::ElementPtr _sdf);
273 
277  GAZEBO_VISIBLE
278  msgs::MeshGeom MeshFromSDF(sdf::ElementPtr _sdf);
279 
283  GAZEBO_VISIBLE
284  msgs::Geometry GeometryFromSDF(sdf::ElementPtr _sdf);
285 
289  GAZEBO_VISIBLE
290  msgs::Visual VisualFromSDF(sdf::ElementPtr _sdf);
291 
295  GAZEBO_VISIBLE
296  msgs::Collision CollisionFromSDF(sdf::ElementPtr _sdf);
297 
301  GAZEBO_VISIBLE
302  msgs::Surface SurfaceFromSDF(sdf::ElementPtr _sdf);
303 
307  GAZEBO_VISIBLE
308  msgs::Friction FrictionFromSDF(sdf::ElementPtr _sdf);
309 
313  GAZEBO_VISIBLE
314  msgs::Axis AxisFromSDF(sdf::ElementPtr _sdf);
315 
319  GAZEBO_VISIBLE
320  msgs::Joint JointFromSDF(sdf::ElementPtr _sdf);
321 
325  GAZEBO_VISIBLE
326  msgs::Plugin PluginFromSDF(const sdf::ElementPtr _sdf);
327 
333  GAZEBO_VISIBLE
334  sdf::ElementPtr VisualToSDF(const msgs::Visual &_msg,
335  sdf::ElementPtr _sdf = sdf::ElementPtr());
336 
344  GAZEBO_VISIBLE
345  sdf::ElementPtr MaterialToSDF(const msgs::Material &_msg,
346  sdf::ElementPtr _sdf = sdf::ElementPtr());
347 
352  GAZEBO_VISIBLE
353  msgs::Material::ShaderType ConvertShaderType(const std::string &_str);
354 
359  GAZEBO_VISIBLE
360  std::string ConvertShaderType(const msgs::Material::ShaderType &_type);
361 
365  GAZEBO_VISIBLE
366  msgs::Fog FogFromSDF(sdf::ElementPtr _sdf);
367 
371  GAZEBO_VISIBLE
372  msgs::Scene SceneFromSDF(sdf::ElementPtr _sdf);
373 
380  GAZEBO_VISIBLE
381  msgs::Sensor SensorFromSDF(sdf::ElementPtr _sdf);
382 
387  GAZEBO_VISIBLE
388  msgs::CameraSensor CameraSensorFromSDF(sdf::ElementPtr _sdf);
389 
394  GAZEBO_VISIBLE
395  msgs::RaySensor RaySensorFromSDF(sdf::ElementPtr _sdf);
396 
401  GAZEBO_VISIBLE
402  msgs::ContactSensor ContactSensorFromSDF(sdf::ElementPtr _sdf);
403 
409  GAZEBO_VISIBLE
410  sdf::ElementPtr LightToSDF(const msgs::Light &_msg,
411  sdf::ElementPtr _sdf = sdf::ElementPtr());
412 
418  GAZEBO_VISIBLE
419  sdf::ElementPtr CameraSensorToSDF(const msgs::CameraSensor &_msg,
420  sdf::ElementPtr _sdf = sdf::ElementPtr());
421 
427  GAZEBO_VISIBLE
428  sdf::ElementPtr PluginToSDF(const msgs::Plugin &_plugin,
429  sdf::ElementPtr _sdf = sdf::ElementPtr());
430 
436  GAZEBO_VISIBLE
437  sdf::ElementPtr CollisionToSDF(const msgs::Collision &_msg,
438  sdf::ElementPtr _sdf = sdf::ElementPtr());
439 
447  GAZEBO_VISIBLE
448  sdf::ElementPtr LinkToSDF(const msgs::Link &_msg,
449  sdf::ElementPtr _sdf = sdf::ElementPtr());
450 
456  GAZEBO_VISIBLE
457  sdf::ElementPtr InertialToSDF(const msgs::Inertial &_msg,
458  sdf::ElementPtr _sdf = sdf::ElementPtr());
459 
465  GAZEBO_VISIBLE
466  sdf::ElementPtr SurfaceToSDF(const msgs::Surface &_msg,
467  sdf::ElementPtr _sdf = sdf::ElementPtr());
468 
477  GAZEBO_VISIBLE
478  sdf::ElementPtr GeometryToSDF(const msgs::Geometry &_msg,
479  sdf::ElementPtr _sdf = sdf::ElementPtr());
480 
486  GAZEBO_VISIBLE
487  sdf::ElementPtr MeshToSDF(const msgs::MeshGeom &_msg,
488  sdf::ElementPtr _sdf = sdf::ElementPtr());
489 
497  GAZEBO_VISIBLE
498  void AddBoxLink(msgs::Model &_model, const double _mass,
499  const ignition::math::Vector3d &_size);
500 
510  GAZEBO_VISIBLE
511  void AddCylinderLink(msgs::Model &_model, const double _mass,
512  const double _radius, const double _length);
513 
521  GAZEBO_VISIBLE
522  void AddSphereLink(msgs::Model &_model, const double _mass,
523  const double _radius);
524 
530  GAZEBO_VISIBLE
531  void AddLinkGeom(Model &_msg, const Geometry &_geom);
532 
540  GAZEBO_VISIBLE
541  sdf::ElementPtr ModelToSDF(const msgs::Model &_msg,
542  sdf::ElementPtr _sdf = sdf::ElementPtr());
543 
549  GAZEBO_VISIBLE
550  sdf::ElementPtr JointToSDF(const msgs::Joint &_msg,
551  sdf::ElementPtr _sdf = sdf::ElementPtr());
552 
554  GAZEBO_VISIBLE
555  const google::protobuf::FieldDescriptor *GetFD(
556  google::protobuf::Message &message, const std::string &name);
558 
562  GAZEBO_VISIBLE
563  msgs::Header *GetHeader(google::protobuf::Message &_message);
564 
566  }
567 }
568 
569 #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
Forward declarations for the common classes.
Definition: Animation.hh:33
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&#39;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.