stdconverter.h

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/********************************************************************************
 * Copyright (C) 2017-2020 German Aerospace Center (DLR). 
 * Eclipse ADORe, Automated Driving Open Research https://eclipse.org/adore
 *
 * This program and the accompanying materials are made available under the 
 * terms of the Eclipse Public License 2.0 which is available at
 * http://www.eclipse.org/legal/epl-2.0.
 *
 * SPDX-License-Identifier: EPL-2.0 
 *
 * Contributors: 
 *   Daniel Heß - initial API and implementation
 ********************************************************************************/
#pragma once
 
#include <std_msgs/Float32.h>
#include <std_msgs/Float64.h>
#include <std_msgs/String.h>
#include <std_msgs/Int8.h>
#include <std_msgs/Int64.h>
#include <std_msgs/Bool.h>
#include <nav_msgs/Odometry.h>
#include <tf2/LinearMath/Quaternion.h>
#include <tf/transform_broadcaster.h>
#include <geometry_msgs/Pose.h>
#include <geometry_msgs/Twist.h>
 
 
 
 
namespace adore
{
    namespace if_ROS
    {
        struct StdConverter
        {
            public:
                std_msgs::Float64 operator()(double value)
                {
                    std_msgs::Float64 m;
                    m.data = value;
                    return m;
                }
                void operator()(std_msgs::Float64ConstPtr msg, double* value)
                {
                    *value = msg.get()->data;
                }
                std_msgs::Bool operator()(bool value)
                {
                    std_msgs::Bool m;
                    m.data = value;
                    return m;
                }
                void operator()(std_msgs::BoolConstPtr msg, bool* value)
                {
                    *value = msg.get()->data;
                }
 
                std_msgs::String operator()(std::string value)
                {
                    std_msgs::String m;
                    m.data = value;
                    return m;
                }
                void operator()(std_msgs::StringConstPtr msg, std::string* value)
                {
                    *value = msg.get()->data;
                }
                void operator()(std_msgs::StringConstPtr msg, std::string& value)
                {
                    value = msg.get()->data;
                }
                void operator()(const std_msgs::String& msg_string, std::string& std_string)
                {
                    std_string = msg_string.data;
                }
 
                std_msgs::Int64 operator()(int64_t value)
                {
                    std_msgs::Int64 m;
                    m.data = value;
                    return m;
                }
                void operator()(std_msgs::Int64ConstPtr msg, int64_t* value)
                {
                    *value = msg.get()->data;
                }
                void operator()(std_msgs::Int64ConstPtr msg, int64_t& value)
                {
                    value = msg.get()->data;
                }
                void operator()(const std_msgs::Int64& msg, int64_t& std)
                {
                    std = msg.data;
                }
        };
    }
 
}