Orca Robotics

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2008 Alex Brooks, Alexei Makarenko, Tobias Kaupp, Ben Upcroft
00005  *
00006  * This copy of Orca is licensed to you under the terms described in
00007  * the LICENSE file included in this distribution.
00008  *
00009  */
00010 
00011 #ifndef ORCAOBJ_STRINGIFY_UTILITIES_H
00012 #define ORCAOBJ_STRINGIFY_UTILITIES_H
00013 
00014 #include <string>
00015 #include <orca/orca.h>
00016 #include <orca/binaryswitch.h>
00017 #include <orca/camera.h>
00018 #include <orca/cpu.h>
00019 #include <orca/drivebicycle.h>
00020 #include <orca/estop.h>
00021 #include <orca/gps.h>
00022 #include <orca/ogmap.h>
00023 #include <orca/home.h>
00024 #include <orca/image.h>
00025 #include <orca/imu.h>
00026 #include <orca/odometry2d.h>
00027 #include <orca/odometry3d.h>
00028 #include <orca/laserscanner2d.h>
00029 #include <orca/localise2d.h>
00030 #include <orca/localise3d.h>
00031 #include <orca/pixmap.h>
00032 #include <orca/power.h>
00033 #include <orca/status.h>
00034 #include <orca/tracer.h>
00035 #include <orca/polarfeature2d.h>
00036 #include <orca/featuremap2d.h>
00037 #include <orca/pathfollower2d.h>
00038 #include <orca/pathplanner2d.h>
00039 #include <orca/tracer.h>
00040 #include <orca/velocitycontrol2d.h>
00041 #include <orca/wifi.h>
00042 #include <orca/properties.h>
00043 
00044 namespace orcaobj
00045 {
00046 
00051 
00055 std::string toString( const orca::FQComponentName& );
00056 
00060 std::string toString( const orca::FQInterfaceName& );
00061 
00064 std::string toString( const orca::FQTopicName& );
00065 
00068 std::string toString( const orca::FQExecutableName & name );
00069 
00074 orca::FQComponentName toComponentName( const std::string& s );
00075 
00080 orca::FQInterfaceName toInterfaceName( const std::string& s );
00081 
00083 std::string toHomeIdentity( const orca::FQComponentName & fqCName );
00084 
00086 orca::FQTopicName toStatusTopic( const orca::FQComponentName & fqCName );
00087 
00089 orca::FQTopicName toTracerTopic( const orca::FQComponentName & fqCName );
00090 
00092 
00097 
00100 int toImageFormat( const std::string &, orca::ImageFormat& );
00101 
00104 std::string toString( const orca::CartesianPoint& );
00107 int toCartesianPoint( const std::string &, orca::CartesianPoint& );
00108 
00111 std::string toString( const orca::CartesianPoint2d& );
00114 int toCartesianPoint2d( const std::string &, orca::CartesianPoint2d& );
00115 
00118 std::string toString( const orca::Frame2d& );
00121 int toFrame2d( const std::string &, orca::Frame2d& );
00123 std::string toString( const orca::Covariance2d& );
00124 
00127 std::string toString( const orca::Frame3d& );
00130 int toFrame3d( const std::string &, orca::Frame3d& );
00131 
00134 std::string toString( const orca::Size2d& );
00137 int toSize2d( const std::string &, orca::Size2d& );
00138 
00141 std::string toString( const orca::Size3d& );
00144 int toSize3d( const std::string &, orca::Size3d& );
00145 
00148 int toIntVector( const std::string &, std::vector<int>& );
00149 
00152 int toDoubleVector( const std::string &, std::vector<double>& );
00153 
00158 std::string toStringDuration( const orca::Time& );
00163 int toTimeDuration( const std::string &, orca::Time& );
00164 
00167 std::string toString( const orca::Time& );
00169 std::string toString( const orca::TimeOfDay& );
00171 std::string toString( const orca::Date& );
00172 
00174 std::string toString( const orca::BinarySwitchData& );
00176 std::string toString( const orca::CameraDataSequence& );
00178 std::string toString( const orca::CameraDescriptionSequence& );
00180 std::string toString( const orca::CpuInfo& );
00182 std::string toString( const orca::CpuData& );
00184 std::string toString( const orca::DriveBicycleCommand& );
00186 std::string toString( const orca::DriveBicycleData& );
00188 std::string toString( const orca::EStopData& );
00190 std::string toString( const orca::GpsDescription& );
00192 std::string toString( const orca::GpsData&  );
00194 std::string toString( const orca::HomeData& );
00196 std::string toString( const orca::ImuDescription& );
00198 std::string toString( const orca::ImageDataPtr& );
00200 std::string toString( const orca::ImageDescriptionPtr& );
00202 std::string toString( const orca::ImuData& );
00204 std::string toString( const orca::Odometry2dData& );
00206 std::string toString( const orca::Odometry3dData& );
00208 std::string toString( const orca::VehicleDescription& );
00210 std::string toString( const orca::VehicleControlDescriptionPtr& );
00212 std::string toString( const orca::VehicleGeometryDescriptionPtr& );
00217 std::string toString( const orca::LaserScanner2dDataPtr &, int skip=-1 );
00222 std::string toString( const orca::RangeScanner2dDataPtr &, int skip=-1  );
00224 std::string toString( const orca::RangeScanner2dDescription& );
00226 std::string toString( const orca::SinglePolarFeature2dPtr& obj );
00228 std::string toString( const orca::PolarFeature2dData& );
00230 std::string toString( const orca::FeatureMap2dData& );
00232 std::string toString( const orca::Feature2d& );
00234 std::string toString( const orca::Twist2d& );
00236 std::string toString( const orca::Localise2dData& );
00238 std::string toString( const orca::Localise3dData& );
00240 std::string toString( const orca::BatteryData& );
00242 std::string toString( const orca::BatteriesData& );
00244 std::string toString( const orca::PowerData& );
00246 std::string toString( const orca::PixMapData& );
00248 std::string toString( const orca::StatusData& );
00250 std::string toString( const orca::VelocityControl2dData& );
00252 std::string toString( const orca::TracerData& );
00254 std::string toString( const orca::OgMapData& );
00256 std::string toString( const orca::PathFollower2dData& );
00258 std::string toString( const orca::Waypoint2d& );
00260 std::string toString( const orca::WifiData& );
00262 std::string toString( const orca::PropertiesData& );
00263 
00264 //
00265 // More verbose versions of toString.
00266 // Note: not all objects need support this function,
00267 //       just those with lots of detail that's usually not necessary.
00268 //
00269 
00272 std::string toVerboseString( const orca::OgMapData& );
00274 std::string toVerboseString( const orca::PathFollower2dData& );
00276 std::string toVerboseString( const orca::PathPlanner2dData& );
00278 std::string toVerboseString( const orca::PathPlanner2dTask& );
00280 std::string toVerboseString( const orca::ImuData& );
00281 
00282 // Prints out all the ranges
00283 // std::string toVerboseString( const orca::RangeScanner2dDataPtr & obj ) { return toString(obj,0); };
00284 // Prints out all the laser ranges and intensities
00285 // std::string toVerboseString( const orca::LaserScanner2dDataPtr & obj ) { return toString(obj,0); };
00286 
00287 //}
00288 
00289 
00290 } // namespace
00291 
00292 #endif
orcaobj/stringutils.h
