encoders.hpp

#pragma once
 
#include <google/protobuf/repeated_field.h>
 
#include <state_representation/State.hpp>
#include <state_representation/AnalogIOState.hpp>
#include <state_representation/DigitalIOState.hpp>
#include <state_representation/space/SpatialState.hpp>
#include <state_representation/space/cartesian/CartesianState.hpp>
#include <state_representation/space/Jacobian.hpp>
#include <state_representation/space/joint/JointState.hpp>
#include <state_representation/parameters/Parameter.hpp>
 
#include "clproto.hpp"
#include "state_representation/state_message.pb.h"
 
namespace clproto {
 
template<typename ParamT>
state_representation::proto::Parameter
encoder(state_representation::proto::Parameter& message, const state_representation::Parameter<ParamT>& parameter);
 
template<typename ParamT>
state_representation::proto::Parameter encoder(const state_representation::Parameter<ParamT>& parameter);
 
template<typename FieldT>
google::protobuf::RepeatedField<FieldT> encoder(const std::vector<FieldT>& data);
 
google::protobuf::RepeatedField<double> matrix_encoder(const Eigen::MatrixXd& matrix);
 
/*
 * Declarations for encoding helpers
 */
state_representation::proto::State encoder(const state_representation::State& state);
state_representation::proto::SpatialState encoder(const state_representation::SpatialState& spatial_state);
state_representation::proto::Vector3d encoder(const Eigen::Vector3d& vector);
state_representation::proto::Quaterniond encoder(const Eigen::Quaterniond& quaternion);
state_representation::proto::CartesianState encoder(const state_representation::CartesianState& cartesian_state);
state_representation::proto::Jacobian encoder(const state_representation::Jacobian& jacobian);
state_representation::proto::JointState encoder(const state_representation::JointState& joint_state);
state_representation::proto::AnalogIOState encoder(const state_representation::AnalogIOState& analog_io_state);
state_representation::proto::DigitalIOState encoder(const state_representation::DigitalIOState& digital_io_state);
 
/*
 * Definitions for templated RepeatedField methods
 */
template<typename FieldT>
google::protobuf::RepeatedField<FieldT> encoder(const std::vector<FieldT>& data) {
  return google::protobuf::RepeatedField<FieldT>({data.begin(), data.end()});
}
 
template<typename ParamT>
inline state_representation::proto::Parameter encoder(const state_representation::Parameter<ParamT>& parameter) {
  state_representation::proto::Parameter message;
  *message.mutable_state() = encoder(static_cast<state_representation::State>(parameter));
  return encoder<ParamT>(message, parameter);
}
}