msgs.h

/*
 * Copyright 2011 Nate Koenig & Andrew Howard
 *
 * 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_HH
#define MESSAGES_UTILITY_HH

#include "msgs/MessageTypes.hh"
#include "sdf/sdf.h"

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

#include "common/Color.hh"
#include "common/Time.hh"

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


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

    void Stamp(msgs::Header *_header);

    void Stamp(msgs::Time *_time);

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

  }
}

#endif