orcaobj/stringutils.h

/*
 * Orca-Robotics Project: Components for robotics 
 *               http://orca-robotics.sf.net/
 * Copyright (c) 2004-2008 Alex Brooks, Alexei Makarenko, Tobias Kaupp, Ben Upcroft
 *
 * This copy of Orca is licensed to you under the terms described in
 * the LICENSE file included in this distribution.
 *
 */

#ifndef ORCAOBJ_STRINGIFY_UTILITIES_H
#define ORCAOBJ_STRINGIFY_UTILITIES_H

#include <string>
#include <orca/orca.h>

namespace orcaobj
{


std::string toString( const orca::FQComponentName& );

std::string toString( const orca::FQInterfaceName& );

std::string toString( const orca::FQTopicName& );

std::string toString( const orca::FQExecutableName & name );

orca::FQComponentName toComponentName( const std::string& s );

orca::FQInterfaceName toInterfaceName( const std::string& s );

std::string toHomeIdentity( const orca::FQComponentName & fqCName );

orca::FQTopicName toStatusTopic( const orca::FQComponentName & fqCName );

orca::FQTopicName toTracerTopic( const orca::FQComponentName & fqCName );



std::string toString( const orca::CartesianPoint& );
int toCartesianPoint( const std::string &, orca::CartesianPoint& );

std::string toString( const orca::CartesianPoint2d& );
int toCartesianPoint2d( const std::string &, orca::CartesianPoint2d& );

std::string toString( const orca::Frame2d& );
int toFrame2d( const std::string &, orca::Frame2d& );
std::string toString( const orca::Covariance2d& );

std::string toString( const orca::Frame3d& );
int toFrame3d( const std::string &, orca::Frame3d& );

std::string toString( const orca::Size2d& );
int toSize2d( const std::string &, orca::Size2d& );

std::string toString( const orca::Size3d& );
int toSize3d( const std::string &, orca::Size3d& );

int toIntVector( const std::string &, std::vector<int>& );

int toDoubleVector( const std::string &, std::vector<double>& );

std::string toStringDuration( const orca::Time& );
int toTimeDuration( const std::string &, orca::Time& );

std::string toString( const orca::Time& );
std::string toString( const orca::TimeOfDay& );
std::string toString( const orca::Date& );

std::string toString( const orca::CameraDescriptionPtr& );
std::string toString( const orca::MultiCameraDescriptionPtr& );
std::string toString( const orca::MultiCameraDataPtr& );
std::string toString( const orca::CpuData& );
std::string toString( const orca::DriveBicycleCommand& );
std::string toString( const orca::DriveBicycleData& );
std::string toString( const orca::GpsDescription& );
std::string toString( const orca::ImuDescription& );
std::string toString( const orca::ImageDataPtr& );
std::string toString( const orca::ImageDescriptionPtr& );
std::string toString( const orca::ImuData& );
std::string toString( const orca::Odometry2dData& );
std::string toString( const orca::Odometry3dData& );
std::string toString( const orca::VehicleDescription& );
std::string toString( const orca::VehicleControlDescriptionPtr& );
std::string toString( const orca::VehicleGeometryDescriptionPtr& );
std::string toString( const orca::LaserScanner2dDataPtr &, int skip=-1 );
std::string toString( const orca::RangeScanner2dDataPtr &, int skip=-1  );
std::string toString( const orca::RangeScanner2dDescription& );
std::string toString( const orca::SinglePolarFeature2dPtr& obj );
std::string toString( const orca::PolarFeature2dData& );
std::string toString( const orca::FeatureMap2dData& );
std::string toString( const orca::Feature2d& );
std::string toString( const orca::Twist2d& );
std::string toString( const orca::Localise2dData& );
std::string toString( const orca::Localise3dData& );
std::string toString( const orca::BatteryData& );
std::string toString( const orca::BatteriesData& );
std::string toString( const orca::PowerData& );
std::string toString( const orca::PixMapData& );
std::string toString( const orca::VelocityControl2dData& );
std::string toString( const orca::TracerData& );
std::string toString( const orca::OgMapData& );
std::string toString( const orca::PathFollower2dData& );
std::string toString( const orca::Waypoint2d& );
std::string toString( const orca::WifiData& );
std::string toString( const orca::PropertiesData& );

//
// More verbose versions of toString.
// Note: not all objects need support this function,
//       just those with lots of detail that's usually not necessary.
//

std::string toVerboseString( const orca::OgMapData& );
std::string toVerboseString( const orca::PathFollower2dData& );
std::string toVerboseString( const orca::PathPlanner2dData& );
std::string toVerboseString( const orca::PathPlanner2dTask& );
std::string toVerboseString( const orca::ImuData& );

// Prints out all the ranges
// std::string toVerboseString( const orca::RangeScanner2dDataPtr & obj ) { return toString(obj,0); };
// Prints out all the laser ranges and intensities
// std::string toVerboseString( const orca::LaserScanner2dDataPtr & obj ) { return toString(obj,0); };

//}


} // namespace

#endif