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Merge pull request autowarefoundation#172 from tier4/sync-upstream
chore: sync upstream
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31 changes: 31 additions & 0 deletions
31
common/tier4_autoware_utils/include/tier4_autoware_utils/ros/msg_operation.hpp
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,31 @@ | ||
| // Copyright 2022 TIER IV, Inc. | ||
| // | ||
| // 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. | ||
|
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| #ifndef TIER4_AUTOWARE_UTILS__ROS__MSG_OPERATION_HPP_ | ||
| #define TIER4_AUTOWARE_UTILS__ROS__MSG_OPERATION_HPP_ | ||
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| #include "geometry_msgs/msg/quaternion.hpp" | ||
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| // NOTE: Do not use tier4_autoware_utils namespace | ||
| namespace geometry_msgs | ||
| { | ||
| namespace msg | ||
| { | ||
| Quaternion operator+(Quaternion a, Quaternion b) noexcept; | ||
| Quaternion operator-(Quaternion a) noexcept; | ||
| Quaternion operator-(Quaternion a, Quaternion b) noexcept; | ||
| } // namespace msg | ||
| } // namespace geometry_msgs | ||
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| #endif // TIER4_AUTOWARE_UTILS__ROS__MSG_OPERATION_HPP_ |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,55 @@ | ||
| // Copyright 2022 TIER IV, Inc. | ||
| // | ||
| // 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. | ||
|
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| #include "tier4_autoware_utils/ros/msg_operation.hpp" | ||
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| #include <tf2/utils.h> | ||
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| #ifdef ROS_DISTRO_GALACTIC | ||
| #include <tf2_geometry_msgs/tf2_geometry_msgs.h> | ||
| #else | ||
| #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp> | ||
| #endif | ||
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| // NOTE: Do not use tier4_autoware_utils namespace | ||
| namespace geometry_msgs | ||
| { | ||
| namespace msg | ||
| { | ||
| Quaternion operator+(Quaternion a, Quaternion b) noexcept | ||
| { | ||
| tf2::Quaternion quat_a; | ||
| tf2::Quaternion quat_b; | ||
| tf2::fromMsg(a, quat_a); | ||
| tf2::fromMsg(b, quat_b); | ||
| return tf2::toMsg(quat_a + quat_b); | ||
| } | ||
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| Quaternion operator-(Quaternion a) noexcept | ||
| { | ||
| tf2::Quaternion quat_a; | ||
| tf2::fromMsg(a, quat_a); | ||
| return tf2::toMsg(quat_a * -1.0); | ||
| } | ||
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| Quaternion operator-(Quaternion a, Quaternion b) noexcept | ||
| { | ||
| tf2::Quaternion quat_a; | ||
| tf2::Quaternion quat_b; | ||
| tf2::fromMsg(a, quat_a); | ||
| tf2::fromMsg(b, quat_b); | ||
| return tf2::toMsg(quat_a * quat_b.inverse()); | ||
| } | ||
| } // namespace msg | ||
| } // namespace geometry_msgs |
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