msgs.hh

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/*
 * Copyright (C) 2012-2015 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 MESSAGES_UTILITY_H
#define MESSAGES_UTILITY_H

#include <string>

#include <sdf/sdf.hh>

#include "gazebo/msgs/MessageTypes.hh"

#include "gazebo/math/MathTypes.hh"
#include "gazebo/math/Vector3.hh"
#include "gazebo/math/Pose.hh"
#include "gazebo/math/Plane.hh"
#include "gazebo/math/Box.hh"

#include "gazebo/common/SphericalCoordinates.hh"
#include "gazebo/common/Color.hh"
#include "gazebo/common/Time.hh"
#include "gazebo/common/Image.hh"

namespace gazebo
{
  namespace msgs
  {

    GAZEBO_VISIBLE
    msgs::Request *CreateRequest(const std::string &_request,
                                 const std::string &_data = "");

    GAZEBO_VISIBLE
    void Init(google::protobuf::Message &_message, const std::string &_id ="");

    GAZEBO_VISIBLE
    void Stamp(msgs::Header *_header);

    GAZEBO_VISIBLE
    void Stamp(msgs::Time *_time);

    GAZEBO_VISIBLE
    std::string Package(const std::string &type,
        const google::protobuf::Message &message);

    GAZEBO_VISIBLE
    msgs::Vector3d      Convert(const math::Vector3 &_v);

    GAZEBO_VISIBLE
    msgs::Vector2d Convert(const math::Vector2d &_v);

    GAZEBO_VISIBLE
    msgs::Quaternion Convert(const math::Quaternion &_q);

    GAZEBO_VISIBLE
    msgs::Pose       Convert(const math::Pose &_p);

    GAZEBO_VISIBLE
    msgs::Color      Convert(const common::Color &_c);

    GAZEBO_VISIBLE
    msgs::Time       Convert(const common::Time &_t);

    GAZEBO_VISIBLE
    msgs::PlaneGeom Convert(const math::Plane &_p);

    GAZEBO_VISIBLE
    msgs::Joint::Type ConvertJointType(const std::string &_str);

    GAZEBO_VISIBLE
    std::string ConvertJointType(const msgs::Joint::Type _type);

    GAZEBO_VISIBLE
    math::Vector3    Convert(const msgs::Vector3d &_v);

    GAZEBO_VISIBLE
    math::Vector2d    Convert(const msgs::Vector2d &_v);

    GAZEBO_VISIBLE
    math::Quaternion Convert(const msgs::Quaternion &_q);

    GAZEBO_VISIBLE
    math::Pose       Convert(const msgs::Pose &_p);

    GAZEBO_VISIBLE
    void Set(common::Image &_img, const msgs::Image &_msg);

    GAZEBO_VISIBLE
    common::Color    Convert(const msgs::Color &_c);

    GAZEBO_VISIBLE
    common::Time     Convert(const msgs::Time &_t);

    GAZEBO_VISIBLE
    math::Plane      Convert(const msgs::PlaneGeom &_p);

    GAZEBO_VISIBLE
    void Set(msgs::Image *_msg, const common::Image &_i);

    GAZEBO_VISIBLE
    void Set(msgs::Vector3d *_pt, const math::Vector3 &_v);

    GAZEBO_VISIBLE
    void Set(msgs::Vector2d *_pt, const math::Vector2d &_v);

    GAZEBO_VISIBLE
    void Set(msgs::Quaternion *_q, const math::Quaternion &_v);

    GAZEBO_VISIBLE
    void Set(msgs::Pose *_p, const math::Pose &_v);

    GAZEBO_VISIBLE
    void Set(msgs::Color *_c, const common::Color &_v);

    GAZEBO_VISIBLE
    void Set(msgs::Time *_t, const common::Time &_v);

    GAZEBO_VISIBLE
    void Set(msgs::SphericalCoordinates *_s,
             const common::SphericalCoordinates &_v);

    GAZEBO_VISIBLE
    void Set(msgs::PlaneGeom *_p, const math::Plane &_v);

    GAZEBO_VISIBLE
    msgs::TrackVisual TrackVisualFromSDF(sdf::ElementPtr _sdf);

    GAZEBO_VISIBLE
    msgs::GUI GUIFromSDF(sdf::ElementPtr _sdf);

    GAZEBO_VISIBLE
    msgs::Light LightFromSDF(sdf::ElementPtr _sdf);

    GAZEBO_VISIBLE
    msgs::MeshGeom MeshFromSDF(sdf::ElementPtr _sdf);

    GAZEBO_VISIBLE
    msgs::Geometry GeometryFromSDF(sdf::ElementPtr _sdf);

    GAZEBO_VISIBLE
    msgs::Visual VisualFromSDF(sdf::ElementPtr _sdf);

    GAZEBO_VISIBLE
    sdf::ElementPtr VisualToSDF(const msgs::Visual &_msg,
        sdf::ElementPtr _sdf = sdf::ElementPtr());

    GAZEBO_VISIBLE
    sdf::ElementPtr MaterialToSDF(const msgs::Material &_msg,
        sdf::ElementPtr _sdf = sdf::ElementPtr());

    GAZEBO_VISIBLE
    msgs::Material::ShaderType ConvertShaderType(const std::string &_str);

    GAZEBO_VISIBLE
    std::string ConvertShaderType(const msgs::Material::ShaderType _type);

    GAZEBO_VISIBLE
    msgs::Fog FogFromSDF(sdf::ElementPtr _sdf);

    GAZEBO_VISIBLE
    msgs::Scene SceneFromSDF(sdf::ElementPtr _sdf);

    GAZEBO_VISIBLE
    sdf::ElementPtr LightToSDF(const msgs::Light &_msg,
        sdf::ElementPtr _sdf = sdf::ElementPtr());

    GAZEBO_VISIBLE
    sdf::ElementPtr CameraSensorToSDF(const msgs::CameraSensor &_msg,
        sdf::ElementPtr _sdf = sdf::ElementPtr());

    GAZEBO_VISIBLE
    sdf::ElementPtr PluginToSDF(const msgs::Plugin &_plugin,
        sdf::ElementPtr _sdf = sdf::ElementPtr());

    GAZEBO_VISIBLE
    sdf::ElementPtr CollisionToSDF(const msgs::Collision &_msg,
        sdf::ElementPtr _sdf = sdf::ElementPtr());

    GAZEBO_VISIBLE
    sdf::ElementPtr LinkToSDF(const msgs::Link &_msg,
        sdf::ElementPtr _sdf = sdf::ElementPtr());

    GAZEBO_VISIBLE
    sdf::ElementPtr InertialToSDF(const msgs::Inertial &_msg,
        sdf::ElementPtr _sdf = sdf::ElementPtr());

    GAZEBO_VISIBLE
    sdf::ElementPtr SurfaceToSDF(const msgs::Surface &_msg,
        sdf::ElementPtr _sdf = sdf::ElementPtr());

    GAZEBO_VISIBLE
    sdf::ElementPtr GeometryToSDF(const msgs::Geometry &_msg,
        sdf::ElementPtr _sdf = sdf::ElementPtr());

    GAZEBO_VISIBLE
    sdf::ElementPtr MeshToSDF(const msgs::MeshGeom &_msg,
        sdf::ElementPtr _sdf = sdf::ElementPtr());

    GAZEBO_VISIBLE
    void AddBoxLink(msgs::Model &_model, const double _mass,
                    const math::Vector3 &_size);

    GAZEBO_VISIBLE
    void AddCylinderLink(msgs::Model &_model, const double _mass,
                         const double _radius, const double _length);

    GAZEBO_VISIBLE
    void AddSphereLink(msgs::Model &_model, const double _mass,
                    const double _radius);

    GAZEBO_VISIBLE
    void AddLinkGeom(Model &_msg, const Geometry &_geom);

    GAZEBO_VISIBLE
    sdf::ElementPtr ModelToSDF(const msgs::Model &_msg,
        sdf::ElementPtr _sdf = sdf::ElementPtr());

    GAZEBO_VISIBLE
    sdf::ElementPtr JointToSDF(const msgs::Joint &_msg,
                      sdf::ElementPtr _sdf = sdf::ElementPtr());

    GAZEBO_VISIBLE
    const google::protobuf::FieldDescriptor *GetFD(
        google::protobuf::Message &message, const std::string &name);

    GAZEBO_VISIBLE
    msgs::Header *GetHeader(google::protobuf::Message &_message);

  }
}

#endif