rendering/Conversions.hh

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/*
 * Copyright (C) 2012-2016 Open Source Robotics Foundation
 *
 * 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 _GAZEBO_CONVERSIONS_HH_
#define _GAZEBO_CONVERSIONS_HH_

#include <ignition/math/Vector3.hh>

#include "gazebo/rendering/ogre_gazebo.h"

#include "gazebo/common/Color.hh"
#include "gazebo/math/Vector3.hh"
#include "gazebo/math/Quaternion.hh"
#include "gazebo/rendering/RenderTypes.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace rendering
  {

    class GZ_RENDERING_VISIBLE Conversions
    {
      public: static Ogre::ColourValue Convert(const common::Color &_clr);

      public: static common::Color Convert(const Ogre::ColourValue &_clr);

      public: static Ogre::Vector3 Convert(const math::Vector3 &_v);

      public: static math::Vector3 Convert(const Ogre::Vector3 &_v);

      public: static ignition::math::Vector3d ConvertIgn(
          const Ogre::Vector3 &_v);

      public: static Ogre::Vector3 Convert(const ignition::math::Vector3d &_v);

      public: static Ogre::Quaternion Convert(const math::Quaternion &_v);

      public: static math::Quaternion Convert(const Ogre::Quaternion &_v);

      public: static ignition::math::Quaterniond ConvertIgn(
                  const Ogre::Quaternion &_q);

      public: static Ogre::Quaternion Convert(
                  const ignition::math::Quaterniond &_q);

      public: static ignition::math::Matrix4d ConvertIgn(
          const Ogre::Matrix4 &_m);

      public: static Ogre::Matrix4 Convert(const ignition::math::Matrix4d &_m);

      public: static Ogre::Node::TransformSpace Convert(
          const ReferenceFrame &_rf);

      public: static ReferenceFrame Convert(
          const Ogre::Node::TransformSpace &_ts);
    };
  }
}
#endif