122 lines
4.3 KiB
C++
122 lines
4.3 KiB
C++
/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef _GAZEBO_CONVERSIONS_HH_
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#define _GAZEBO_CONVERSIONS_HH_
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#include <ignition/math/Vector3.hh>
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#include "gazebo/rendering/ogre_gazebo.h"
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#include "gazebo/common/Color.hh"
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#include "gazebo/math/Vector3.hh"
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#include "gazebo/math/Quaternion.hh"
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#include "gazebo/rendering/RenderTypes.hh"
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#include "gazebo/util/system.hh"
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namespace gazebo
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{
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namespace rendering
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{
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/// \addtogroup gazebo_rendering
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/// \{
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/// \brief Conversions Conversions.hh rendering/Conversions.hh
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/// \brief A set of utility function to convert between Gazebo and Ogre
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/// data types
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class GZ_RENDERING_VISIBLE Conversions
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{
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/// \brief Return the equivalent ogre color
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/// \param[in] _clr Gazebo color to convert
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/// \return Ogre color value
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public: static Ogre::ColourValue Convert(const common::Color &_clr);
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/// \brief Return the equivalent gazebo color
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/// \param[in] _clr Ogre color to convert
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/// \return Gazebo color value
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public: static common::Color Convert(const Ogre::ColourValue &_clr);
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/// \brief return Ogre Vector from Gazebo Vector3
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/// \param[in] _v Gazebo vector
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/// \return Ogre vector
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public: static Ogre::Vector3 Convert(const math::Vector3 &_v);
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/// \brief return gazebo Vector from ogre Vector3
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/// \param[in] _v Ogre vector
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/// \return Gazebo vector
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public: static math::Vector3 Convert(const Ogre::Vector3 &_v);
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/// \brief Return ignition::math::Vector3d from Ogre Vector3.
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/// \param[in] _v Ogre Vector3
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/// \return Ignition math Vector3d
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public: static ignition::math::Vector3d ConvertIgn(
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const Ogre::Vector3 &_v);
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/// \brief Return Ogre Vector3 from ignition::math::Vector3d
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/// \param[in] _v Ignition math Vector3d
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/// \return Ogre Vector3
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public: static Ogre::Vector3 Convert(const ignition::math::Vector3d &_v);
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/// \brief Gazebo quaternion to Ogre quaternion
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/// \param[in] _v Gazebo quaternion
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/// \return Ogre quaternion
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public: static Ogre::Quaternion Convert(const math::Quaternion &_v);
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/// \brief Ogre quaternion to Gazebo quaternion
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/// \param[in] _v Ogre quaternion
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/// \return Gazebo quaternion
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public: static math::Quaternion Convert(const Ogre::Quaternion &_v);
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/// \brief Ogre quaternion to ignition::math::Quaterniond
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/// \param[in] _q Ogre quaternion
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/// return Ignition math quaternion
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public: static ignition::math::Quaterniond ConvertIgn(
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const Ogre::Quaternion &_q);
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/// \brief ignition::math::Quaterniond to Ogre quaternion
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/// \param[in] _q Ignition math quaternion
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/// \return Ogre quaternion
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public: static Ogre::Quaternion Convert(
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const ignition::math::Quaterniond &_q);
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/// \brief Ogre Matrix4 to ignition math Matrix4d
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/// \param[in] _m Ogre Matrix4
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/// \return ignition math Matrix4d
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public: static ignition::math::Matrix4d ConvertIgn(
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const Ogre::Matrix4 &_m);
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/// \brief Ignition math Matrix4d to Ogre Matrix4
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/// \param[in] _m ignition math Matrix4d
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/// \return Ogre Matrix4
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public: static Ogre::Matrix4 Convert(const ignition::math::Matrix4d &_m);
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/// \brief Return the equivalent ogre transform space
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/// \param[in] _rf gazebo reference frame to convert
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/// \return Ogre node transform space
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public: static Ogre::Node::TransformSpace Convert(
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const ReferenceFrame &_rf);
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/// \brief Return the equivalent gazebo reference frame
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/// \param[in] _ts Ogre node transform space to convert
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/// \return Gazebo reference frame
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public: static ReferenceFrame Convert(
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const Ogre::Node::TransformSpace &_ts);
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};
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/// \}
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}
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}
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#endif
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