ADORe
ADORe is a modular open source software library and toolkit for decision making, planning, control and simulation of automated vehicles
navigationgoalconverter.h
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1 /********************************************************************************
2  * Copyright (C) 2017-2020 German Aerospace Center (DLR).
3  * Eclipse ADORe, Automated Driving Open Research https://eclipse.org/adore
4  *
5  * This program and the accompanying materials are made available under the
6  * terms of the Eclipse Public License 2.0 which is available at
7  * http://www.eclipse.org/legal/epl-2.0.
8  *
9  * SPDX-License-Identifier: EPL-2.0
10  *
11  * Contributors:
12  * Daniel Heß - initial API and implementation
13  ********************************************************************************/
14 
15 #pragma once
16 
17 #include <adore/fun/afactory.h>
19 #include <adore_if_ros_msg/NavigationGoal.h>
20 #include <adore_if_ros_msg/SetPointRequest.h>
21 #include <adore_if_ros_msg/TerminalRequest.h>
22 #include <adore_if_ros_msg/WheelSpeed.h>
23 #include <tf/tf.h>
24 #include <tf/LinearMath/Quaternion.h>
25 #include <std_msgs/Float64.h>
26 #include <std_msgs/Float32.h>
27 #include <std_msgs/Int8.h>
28 #include <std_msgs/Bool.h>
29 #include <nav_msgs/Odometry.h>
30 
31 namespace adore
32 {
33  namespace if_ROS
34  {
39  {
41  void operator()(adore_if_ros_msg::NavigationGoalConstPtr msg,adore::fun::NavigationGoal* goal)
42  {
43  goal->target_.x_ = msg.get()->target.x;
44  goal->target_.y_ = msg.get()->target.y;
45  goal->target_.z_ = msg.get()->target.z;
46  }
47  };
48  }
49 }
Definition: areaofeffectconverter.h:20
Definition: navigationgoal.h:26
adore::mad::GlobalPosition target_
Definition: navigationgoal.h:28
Definition: navigationgoalconverter.h:39
void operator()(adore_if_ros_msg::NavigationGoalConstPtr msg, adore::fun::NavigationGoal *goal)
convert a ros navigation goal message to a c++ object
Definition: navigationgoalconverter.h:41
double z_
Definition: globalposition.h:23
double x_
Definition: globalposition.h:23
double y_
Definition: globalposition.h:23