17 #include <tf/LinearMath/Quaternion.h>
20 #include <tf2/LinearMath/Quaternion.h>
21 #include <tf2/LinearMath/Matrix3x3.h>
22 #include <adore_if_ros_msg/Border.h>
23 #include <nav_msgs/Odometry.h>
56 for(
const auto& p:msg->points)
96 adore_if_ros_msg::Border msg;
98 geometry_msgs::Point first;
102 msg.borderId.first = first;
104 geometry_msgs::Point last;
108 msg.borderId.last = last;
111 if( border.
m_path !=
nullptr)
115 geometry_msgs::Point p;
119 msg.points.push_back(p);
124 if(border.
m_left !=
nullptr)
126 msg.has_left_id =
true;
127 geometry_msgs::Point left_first;
131 msg.leftId.first = left_first;
133 geometry_msgs::Point left_last;
137 msg.leftId.last = left_last;
141 msg.has_left_id =
false;
143 msg.borderType = border.
m_type;
adoreMatrix< T, n+1, 0 > & getData()
Definition: llinearpiecewisefunction.h:147
TYPE
This enum holds the different types of borders.
Definition: border.h:37
Definition: areaofeffectconverter.h:20
This struct identifies a Border by the coordinates of the starting and the end point.
Definition: borderid.h:31
Coordinate m_last
Definition: borderid.h:32
Coordinate m_first
Definition: borderid.h:32
The border struct contains data of the smallest.
Definition: border.h:62
Tborderpath * m_path
Definition: border.h:70
BorderType::TYPE m_type
Definition: border.h:71
BorderID m_id
Definition: border.h:68
BorderID * m_left
Definition: border.h:69
double m_Y
Definition: coordinate.h:35
double m_Z
Definition: coordinate.h:35
double m_X
Definition: coordinate.h:35
Definition: borderconverter.h:33
void operator()(adore_if_ros_msg::BorderConstPtr msg, adore::env::BorderBased::Border &border)
Definition: borderconverter.h:38
adore_if_ros_msg::Border operator()(const adore::env::BorderBased::Border &border)
Definition: borderconverter.h:94