converter.hh File Reference

#include <stdexcept>
#include "dg_to_ros.hh"
#include <ros/time.h>
#include <std_msgs/Header.h>
#include <boost/date_time/date.hpp>
#include <boost/date_time/posix_time/posix_time.hpp>
#include <boost/static_assert.hpp>

Include dependency graph for converter.hh:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Namespaces
	dynamic_graph
	this is this package namespace in order to avoid naming conflict

Macros
#define	DG_TO_ROS_IMPL(T)
#define	ROS_TO_DG_IMPL(T)
#define	DG_BRIDGE_TO_ROS_MAKE_STAMPED_IMPL(T, ATTRIBUTE, EXTRA)
	This macro generates a converter for a stamped type from dynamic-graph to ROS. More...
#define	DG_BRIDGE_MAKE_SHPTR_IMPL(T)
	This macro generates a converter for a shared pointer on a ROS type to a dynamic-graph type. More...
#define	DG_BRIDGE_MAKE_STAMPED_IMPL(T, ATTRIBUTE, EXTRA)
	This macro generates a converter for a stamped type. More...
#define	DG_BRIDGE_MAKE_STAMPED_SHPTR_IMPL(T, ATTRIBUTE, EXTRA)
	This macro generates a converter for a shared pointer on a stamped type. More...

Typedefs
typedef boost::posix_time::ptime	dynamic_graph::ptime
typedef boost::posix_time::seconds	dynamic_graph::seconds
typedef boost::posix_time::microseconds	dynamic_graph::microseconds
typedef boost::posix_time::time_duration	dynamic_graph::time_duration
typedef boost::gregorian::date	dynamic_graph::date

Functions
void	dynamic_graph::makeHeader (std_msgs::Header &header)
template<typename D , typename S >
void	dynamic_graph::converter (D &dst, const S &src)
	Handle ROS <-> dynamic-graph conversion. More...
	dynamic_graph::DG_TO_ROS_IMPL (double)
	dynamic_graph::ROS_TO_DG_IMPL (double)
	dynamic_graph::DG_TO_ROS_IMPL (unsigned int)
	dynamic_graph::ROS_TO_DG_IMPL (unsigned int)
	dynamic_graph::DG_TO_ROS_IMPL (Vector)
	dynamic_graph::ROS_TO_DG_IMPL (Vector)
	dynamic_graph::DG_TO_ROS_IMPL (specific::Vector3)
	dynamic_graph::ROS_TO_DG_IMPL (specific::Vector3)
	dynamic_graph::DG_TO_ROS_IMPL (Matrix)
	dynamic_graph::ROS_TO_DG_IMPL (Matrix)
	dynamic_graph::DG_TO_ROS_IMPL (MatrixHomogeneous)
	dynamic_graph::ROS_TO_DG_IMPL (MatrixHomogeneous)
	dynamic_graph::DG_TO_ROS_IMPL (specific::Twist)
	dynamic_graph::ROS_TO_DG_IMPL (specific::Twist)
	dynamic_graph::DG_BRIDGE_TO_ROS_MAKE_STAMPED_IMPL (specific::Vector3, vector, ;)
	dynamic_graph::DG_BRIDGE_TO_ROS_MAKE_STAMPED_IMPL (MatrixHomogeneous, transform, dst.child_frame_id="";)
	dynamic_graph::DG_BRIDGE_TO_ROS_MAKE_STAMPED_IMPL (specific::Twist, twist, ;)
	dynamic_graph::DG_BRIDGE_MAKE_SHPTR_IMPL (double)
	dynamic_graph::DG_BRIDGE_MAKE_SHPTR_IMPL (unsigned int)
	dynamic_graph::DG_BRIDGE_MAKE_SHPTR_IMPL (Vector)
	dynamic_graph::DG_BRIDGE_MAKE_SHPTR_IMPL (specific::Vector3)
	dynamic_graph::DG_BRIDGE_MAKE_SHPTR_IMPL (Matrix)
	dynamic_graph::DG_BRIDGE_MAKE_SHPTR_IMPL (MatrixHomogeneous)
	dynamic_graph::DG_BRIDGE_MAKE_SHPTR_IMPL (specific::Twist)
	dynamic_graph::DG_BRIDGE_MAKE_STAMPED_IMPL (specific::Vector3, vector, ;)
	dynamic_graph::DG_BRIDGE_MAKE_STAMPED_IMPL (MatrixHomogeneous, transform, ;)
	dynamic_graph::DG_BRIDGE_MAKE_STAMPED_IMPL (specific::Twist, twist, ;)
	dynamic_graph::DG_BRIDGE_MAKE_STAMPED_SHPTR_IMPL (specific::Vector3, vector, ;)
	dynamic_graph::DG_BRIDGE_MAKE_STAMPED_SHPTR_IMPL (MatrixHomogeneous, transform, ;)
	dynamic_graph::DG_BRIDGE_MAKE_STAMPED_SHPTR_IMPL (specific::Twist, twist, ;)
template<typename U , typename V >
void	dynamic_graph::converter (U &dst, V &src)
	If an impossible/unimplemented conversion is required, fail. More...
boost::posix_time::ptime	dynamic_graph::rosTimeToPtime (const ros::Time &rosTime)
ros::Time	dynamic_graph::pTimeToRostime (const boost::posix_time::ptime &time)

Detailed Description

Author

Maximilien Naveau (maxim.nosp@m.ilie.nosp@m.n.nav.nosp@m.eau@.nosp@m.gmail.nosp@m..com)

License:

License BSD-3-Clause

Copyright

Copyright (c) 2019, New York University and Max Planck Gesellschaft.

Date

2019-05-22

Macro Definition Documentation

DG_BRIDGE_MAKE_SHPTR_IMPL

#define DG_BRIDGE_MAKE_SHPTR_IMPL

(

T

)

Value:

template <>                                                    \
    inline void converter(                                         \
        DgToRos<T>::dg_t& dst,                                     \
        const boost::shared_ptr<DgToRos<T>::ros_t const>& src)     \
    {                                                              \
        converter<DgToRos<T>::dg_t, DgToRos<T>::ros_t>(dst, *src); \
    }                                                              \
    struct e_n_d__w_i_t_h__s_e_m_i_c_o_l_o_n

This macro generates a converter for a shared pointer on a ROS type to a dynamic-graph type.

A converter for the underlying type is required. I.e. to convert a shared_ptr<T> to T', a converter from T to T' is required.

DG_BRIDGE_MAKE_STAMPED_IMPL

#define DG_BRIDGE_MAKE_STAMPED_IMPL	(		T,
			ATTRIBUTE,
			EXTRA
	)

Value:

template <>                                                             \
    inline void converter(DgToRos<std::pair<T, Vector> >::dg_t& dst,        \
                          const DgToRos<std::pair<T, Vector> >::ros_t& src) \
    {                                                                       \
        converter<DgToRos<T>::dg_t, DgToRos<T>::ros_t>(dst, src.ATTRIBUTE); \
        do                                                                  \
        {                                                                   \
            EXTRA                                                           \
        } while (0);                                                        \
    }                                                                       \
    struct e_n_d__w_i_t_h__s_e_m_i_c_o_l_o_n

This macro generates a converter for a stamped type.

I.e. A data associated with its timestamp.

FIXME: the timestamp is not yet forwarded to the dg signal.

DG_BRIDGE_MAKE_STAMPED_SHPTR_IMPL

#define DG_BRIDGE_MAKE_STAMPED_SHPTR_IMPL	(		T,
			ATTRIBUTE,
			EXTRA
	)

Value:

template <>                                                               \
    inline void converter(                                                    \
        DgToRos<std::pair<T, Vector> >::dg_t& dst,                            \
        const boost::shared_ptr<DgToRos<std::pair<T, Vector> >::ros_t const>& \
            src)                                                              \
    {                                                                         \
        converter<DgToRos<T>::dg_t, DgToRos<T>::ros_t>(dst, src->ATTRIBUTE);  \
        do                                                                    \
        {                                                                     \
            EXTRA                                                             \
        } while (0);                                                          \
    }                                                                         \
    struct e_n_d__w_i_t_h__s_e_m_i_c_o_l_o_n

This macro generates a converter for a shared pointer on a stamped type.

I.e. A data associated with its timestamp.

FIXME: the timestamp is not yet forwarded to the dg signal.

DG_BRIDGE_TO_ROS_MAKE_STAMPED_IMPL

#define DG_BRIDGE_TO_ROS_MAKE_STAMPED_IMPL	(		T,
			ATTRIBUTE,
			EXTRA
	)

Value:

template <>                                                             \
    inline void converter(DgToRos<std::pair<T, Vector> >::ros_t& dst,       \
                          const DgToRos<std::pair<T, Vector> >::dg_t& src)  \
    {                                                                       \
        makeHeader(dst.header);                                             \
        converter<DgToRos<T>::ros_t, DgToRos<T>::dg_t>(dst.ATTRIBUTE, src); \
        do                                                                  \
        {                                                                   \
            EXTRA                                                           \
        } while (0);                                                        \
    }                                                                       \
    struct e_n_d__w_i_t_h__s_e_m_i_c_o_l_o_n

This macro generates a converter for a stamped type from dynamic-graph to ROS.

I.e. A data associated with its timestamp.

DG_TO_ROS_IMPL

#define DG_TO_ROS_IMPL

(

T

)

Value:

template <>           \
    inline void converter(DgToRos<T>::ros_t& dst, const DgToRos<T>::dg_t& src)

ROS_TO_DG_IMPL

#define ROS_TO_DG_IMPL

(

T

)

Value:

template <>           \
    inline void converter(DgToRos<T>::dg_t& dst, const DgToRos<T>::ros_t& src)