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Resolved pedantic warnings #173

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Resolved pedantic warnings #173

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6 changes: 3 additions & 3 deletions tf/include/tf/tf.h
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Original file line number Diff line number Diff line change
Expand Up @@ -57,7 +57,7 @@ std::string resolve(const std::string& prefix, const std::string& frame_name);
std::string strip_leading_slash(const std::string& frame_name);

/** \deprecated This has been renamed to tf::resolve */
__attribute__((deprecated)) static inline std::string remap(const std::string& prefix, const std::string& frame_name) { return tf::resolve(prefix, frame_name);} ;
__attribute__((deprecated)) static inline std::string remap(const std::string& prefix, const std::string& frame_name) { return tf::resolve(prefix, frame_name);}

enum ErrorValues { NO_ERROR = 0, LOOKUP_ERROR, CONNECTIVITY_ERROR, EXTRAPOLATION_ERROR};

Expand Down Expand Up @@ -409,7 +409,7 @@ inline void assertQuaternionValid(const tf::Quaternion & q)
ss << "Quaternion malformed, magnitude: " << q.x()*q.x() + q.y()*q.y() + q.z()*q.z() + q.w()*q.w() << " should be 1.0" <<std::endl;
throw tf::InvalidArgument(ss.str());
} // ROS_ASSERT(std::fabs(q.x()*q.x() + q.y()*q.y() + q.z*q.z() + q.w()*q.w() - 1 < 0.01));
};
}

/** \brief Throw InvalidArgument if quaternion is malformed */
inline void assertQuaternionValid(const geometry_msgs::Quaternion & q)
Expand All @@ -427,6 +427,6 @@ inline void assertQuaternionValid(const geometry_msgs::Quaternion & q)
ss << "Quaternion malformed, magnitude: " << q.x*q.x + q.y*q.y + q.z*q.z + q.w*q.w << " should be 1.0" <<std::endl;
throw tf::InvalidArgument(ss.str());
} // ROS_ASSERT(std::fabs(q.x()*q.x() + q.y()*q.y() + q.z*q.z() + q.w()*q.w() - 1 < 0.01));
};
}
}
#endif //TF_TF_H
46 changes: 23 additions & 23 deletions tf/include/tf/transform_datatypes.h
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Original file line number Diff line number Diff line change
Expand Up @@ -74,7 +74,7 @@ class Stamped : public T{
template <typename T>
bool operator==(const Stamped<T> &a, const Stamped<T> &b) {
return a.frame_id_ == b.frame_id_ && a.stamp_ == b.stamp_ && static_cast<const T&>(a) == static_cast<const T&>(b);
};
}


/** \brief The Stamped Transform datatype used by tf */
Expand All @@ -98,7 +98,7 @@ class StampedTransform : public tf::Transform
/** \brief Comparison operator for StampedTransform */
static inline bool operator==(const StampedTransform &a, const StampedTransform &b) {
return a.frame_id_ == b.frame_id_ && a.child_frame_id_ == b.child_frame_id_ && a.stamp_ == b.stamp_ && static_cast<const tf::Transform&>(a) == static_cast<const tf::Transform&>(b);
};
}


/** \brief convert Quaternion msg to Quaternion */
Expand All @@ -110,7 +110,7 @@ static inline void quaternionMsgToTF(const geometry_msgs::Quaternion& msg, Quate
ROS_WARN("MSG to TF: Quaternion Not Properly Normalized");
bt.normalize();
}
};
}
/** \brief convert Quaternion to Quaternion msg*/
static inline void quaternionTFToMsg(const Quaternion& bt, geometry_msgs::Quaternion& msg)
{
Expand All @@ -125,7 +125,7 @@ static inline void quaternionTFToMsg(const Quaternion& bt, geometry_msgs::Quater
{
msg.x = bt.x(); msg.y = bt.y(); msg.z = bt.z(); msg.w = bt.w();
}
};
}

/** \brief Helper function for getting yaw from a Quaternion */
static inline double getYaw(const Quaternion& bt_q){
Expand Down Expand Up @@ -195,68 +195,68 @@ static inline tf::Quaternion createIdentityQuaternion()
Quaternion q;
q.setRPY(0,0,0);
return q;
};
}

/** \brief convert QuaternionStamped msg to Stamped<Quaternion> */
static inline void quaternionStampedMsgToTF(const geometry_msgs::QuaternionStamped & msg, Stamped<Quaternion>& bt)
{quaternionMsgToTF(msg.quaternion, bt); bt.stamp_ = msg.header.stamp; bt.frame_id_ = msg.header.frame_id;};
{quaternionMsgToTF(msg.quaternion, bt); bt.stamp_ = msg.header.stamp; bt.frame_id_ = msg.header.frame_id;}
/** \brief convert Stamped<Quaternion> to QuaternionStamped msg*/
static inline void quaternionStampedTFToMsg(const Stamped<Quaternion>& bt, geometry_msgs::QuaternionStamped & msg)
{quaternionTFToMsg(bt, msg.quaternion); msg.header.stamp = bt.stamp_; msg.header.frame_id = bt.frame_id_;};
{quaternionTFToMsg(bt, msg.quaternion); msg.header.stamp = bt.stamp_; msg.header.frame_id = bt.frame_id_;}

/** \brief convert Vector3 msg to Vector3 */
static inline void vector3MsgToTF(const geometry_msgs::Vector3& msg_v, Vector3& bt_v) {bt_v = Vector3(msg_v.x, msg_v.y, msg_v.z);};
static inline void vector3MsgToTF(const geometry_msgs::Vector3& msg_v, Vector3& bt_v) {bt_v = Vector3(msg_v.x, msg_v.y, msg_v.z);}
/** \brief convert Vector3 to Vector3 msg*/
static inline void vector3TFToMsg(const Vector3& bt_v, geometry_msgs::Vector3& msg_v) {msg_v.x = bt_v.x(); msg_v.y = bt_v.y(); msg_v.z = bt_v.z();};
static inline void vector3TFToMsg(const Vector3& bt_v, geometry_msgs::Vector3& msg_v) {msg_v.x = bt_v.x(); msg_v.y = bt_v.y(); msg_v.z = bt_v.z();}

/** \brief convert Vector3Stamped msg to Stamped<Vector3> */
static inline void vector3StampedMsgToTF(const geometry_msgs::Vector3Stamped & msg, Stamped<Vector3>& bt)
{vector3MsgToTF(msg.vector, bt); bt.stamp_ = msg.header.stamp; bt.frame_id_ = msg.header.frame_id;};
{vector3MsgToTF(msg.vector, bt); bt.stamp_ = msg.header.stamp; bt.frame_id_ = msg.header.frame_id;}
/** \brief convert Stamped<Vector3> to Vector3Stamped msg*/
static inline void vector3StampedTFToMsg(const Stamped<Vector3>& bt, geometry_msgs::Vector3Stamped & msg)
{vector3TFToMsg(bt, msg.vector); msg.header.stamp = bt.stamp_; msg.header.frame_id = bt.frame_id_;};
{vector3TFToMsg(bt, msg.vector); msg.header.stamp = bt.stamp_; msg.header.frame_id = bt.frame_id_;}


/** \brief convert Point msg to Point */
static inline void pointMsgToTF(const geometry_msgs::Point& msg_v, Point& bt_v) {bt_v = Vector3(msg_v.x, msg_v.y, msg_v.z);};
static inline void pointMsgToTF(const geometry_msgs::Point& msg_v, Point& bt_v) {bt_v = Vector3(msg_v.x, msg_v.y, msg_v.z);}
/** \brief convert Point to Point msg*/
static inline void pointTFToMsg(const Point& bt_v, geometry_msgs::Point& msg_v) {msg_v.x = bt_v.x(); msg_v.y = bt_v.y(); msg_v.z = bt_v.z();};
static inline void pointTFToMsg(const Point& bt_v, geometry_msgs::Point& msg_v) {msg_v.x = bt_v.x(); msg_v.y = bt_v.y(); msg_v.z = bt_v.z();}

/** \brief convert PointStamped msg to Stamped<Point> */
static inline void pointStampedMsgToTF(const geometry_msgs::PointStamped & msg, Stamped<Point>& bt)
{pointMsgToTF(msg.point, bt); bt.stamp_ = msg.header.stamp; bt.frame_id_ = msg.header.frame_id;};
{pointMsgToTF(msg.point, bt); bt.stamp_ = msg.header.stamp; bt.frame_id_ = msg.header.frame_id;}
/** \brief convert Stamped<Point> to PointStamped msg*/
static inline void pointStampedTFToMsg(const Stamped<Point>& bt, geometry_msgs::PointStamped & msg)
{pointTFToMsg(bt, msg.point); msg.header.stamp = bt.stamp_; msg.header.frame_id = bt.frame_id_;};
{pointTFToMsg(bt, msg.point); msg.header.stamp = bt.stamp_; msg.header.frame_id = bt.frame_id_;}


/** \brief convert Transform msg to Transform */
static inline void transformMsgToTF(const geometry_msgs::Transform& msg, Transform& bt)
{bt = Transform(Quaternion(msg.rotation.x, msg.rotation.y, msg.rotation.z, msg.rotation.w), Vector3(msg.translation.x, msg.translation.y, msg.translation.z));};
{bt = Transform(Quaternion(msg.rotation.x, msg.rotation.y, msg.rotation.z, msg.rotation.w), Vector3(msg.translation.x, msg.translation.y, msg.translation.z));}
/** \brief convert Transform to Transform msg*/
static inline void transformTFToMsg(const Transform& bt, geometry_msgs::Transform& msg)
{vector3TFToMsg(bt.getOrigin(), msg.translation); quaternionTFToMsg(bt.getRotation(), msg.rotation);};
{vector3TFToMsg(bt.getOrigin(), msg.translation); quaternionTFToMsg(bt.getRotation(), msg.rotation);}

/** \brief convert TransformStamped msg to tf::StampedTransform */
static inline void transformStampedMsgToTF(const geometry_msgs::TransformStamped & msg, StampedTransform& bt)
{transformMsgToTF(msg.transform, bt); bt.stamp_ = msg.header.stamp; bt.frame_id_ = msg.header.frame_id; bt.child_frame_id_ = msg.child_frame_id;};
{transformMsgToTF(msg.transform, bt); bt.stamp_ = msg.header.stamp; bt.frame_id_ = msg.header.frame_id; bt.child_frame_id_ = msg.child_frame_id;}
/** \brief convert tf::StampedTransform to TransformStamped msg*/
static inline void transformStampedTFToMsg(const StampedTransform& bt, geometry_msgs::TransformStamped & msg)
{transformTFToMsg(bt, msg.transform); msg.header.stamp = bt.stamp_; msg.header.frame_id = bt.frame_id_; msg.child_frame_id = bt.child_frame_id_;};
{transformTFToMsg(bt, msg.transform); msg.header.stamp = bt.stamp_; msg.header.frame_id = bt.frame_id_; msg.child_frame_id = bt.child_frame_id_;}

/** \brief convert Pose msg to Pose */
static inline void poseMsgToTF(const geometry_msgs::Pose& msg, Pose& bt)
{bt = Transform(Quaternion(msg.orientation.x, msg.orientation.y, msg.orientation.z, msg.orientation.w), Vector3(msg.position.x, msg.position.y, msg.position.z));};
{bt = Transform(Quaternion(msg.orientation.x, msg.orientation.y, msg.orientation.z, msg.orientation.w), Vector3(msg.position.x, msg.position.y, msg.position.z));}
/** \brief convert Pose to Pose msg*/
static inline void poseTFToMsg(const Pose& bt, geometry_msgs::Pose& msg)
{pointTFToMsg(bt.getOrigin(), msg.position); quaternionTFToMsg(bt.getRotation(), msg.orientation);};
{pointTFToMsg(bt.getOrigin(), msg.position); quaternionTFToMsg(bt.getRotation(), msg.orientation);}

/** \brief convert PoseStamped msg to Stamped<Pose> */
static inline void poseStampedMsgToTF(const geometry_msgs::PoseStamped & msg, Stamped<Pose>& bt)
{poseMsgToTF(msg.pose, bt); bt.stamp_ = msg.header.stamp; bt.frame_id_ = msg.header.frame_id;};
{poseMsgToTF(msg.pose, bt); bt.stamp_ = msg.header.stamp; bt.frame_id_ = msg.header.frame_id;}
/** \brief convert Stamped<Pose> to PoseStamped msg*/
static inline void poseStampedTFToMsg(const Stamped<Pose>& bt, geometry_msgs::PoseStamped & msg)
{poseTFToMsg(bt, msg.pose); msg.header.stamp = bt.stamp_; msg.header.frame_id = bt.frame_id_;};
{poseTFToMsg(bt, msg.pose); msg.header.stamp = bt.stamp_; msg.header.frame_id = bt.frame_id_;}



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